General information
Generation time: lun. oct. 2 15:59:04 2023
Vendor name:EZ-WHEEL
Product name: SWD
File version:1
File Revision: 1
Order Code:
Created by: EZ-WHEEL
Modified by: EZ-WHEEL


Comment


CANopen Object Dictionary Documentation for SWD
Generation Information
Comment
0x1000 Device Type
0x1001 Error Register
0x1002 Manufacturer status register
0x1003 Pre defined error field
0x1005 COB ID SYNC message
0x1008 Manufacturer device name
0x1009 Manufacturer hardware version
0x100a Manufacturer software version
0x1010 Store Parameters
0x1011 Restore Default Parameters
0x1014 COB-ID EMCY message
0x1017 Producer Heartbeat Time
0x1018 Identity Object
0x1029 Error behaviour
0x1200 SDO 1 server parameter
0x1201 SDO 2 server parameter
0x1202 SDO 3 server parameter
0x1203 SDO 4 server parameter
0x1301 SRDO 1 communication parameter
0x1302 SRDO 2 communication parameter
0x1309 SRDO 9 communication parameter
0x130a SRDO 10 communication parameter
0x130b SRDO 11 communication parameter
0x130c SRDO 12 communication parameter
0x130d SRDO 13 communication parameter
0x130e SRDO 14 communication parameter
0x130f SRDO 15 communication parameter
0x1310 SRDO 16 communication parameter
0x1381 SRDO 1 mapping parameter
0x1382 SRDO 2 mapping parameter
0x1389 SRDO 9 mapping parameter
0x138a SRDO 10 mapping parameter
0x138b SRDO 11 mapping parameter
0x138c SRDO 12 mapping parameter
0x138d SRDO 13 mapping parameter
0x138e SRDO 14 mapping parameter
0x138f SRDO 15 mapping parameter
0x1390 SRDO 16 mapping parameter
0x13fe Configuration valid
0x13ff Safety configuration signature
0x1400 RPDO 1 communication parameter
0x1401 RPDO 2 communication parameter
0x1402 RPDO 3 communication parameter
0x1403 RPDO 4 communication parameter
0x1404 RPDO 5 communication parameter
0x1405 RPDO 6 communication parameter
0x1406 RPDO 7 communication parameter
0x1407 RPDO 8 communication parameter
0x1600 RPDO 1 mapping parameter
0x1601 RPDO 2 mapping parameter
0x1602 RPDO 3 mapping parameter
0x1603 RPDO 4 mapping parameter
0x1604 RPDO 5 mapping parameter
0x1605 RPDO 6 mapping parameter
0x1606 RPDO 7 mapping parameter
0x1607 RPDO 8 mapping parameter
0x1800 TPDO 1 communication parameter
0x1801 TPDO 2 communication parameter
0x1802 TPDO 3 Communication Parameter
0x1803 TPDO 4 Communication Parameter
0x1804 TPDO 5 Communication Parameter
0x1805 TPDO 6 Communication Parameter
0x1806 TPDO 7 Communication Parameter
0x1807 TPDO 8 Communication Parameter
0x1a00 TPDO 1 mapping parameter
0x1a01 TPDO 2 mapping parameter
0x1a02 TPDO 3 mapping parameter
0x1a03 TPDO 4 mapping parameter
0x1a04 TPDO 5 mapping parameter
0x1a05 TPDO 6 mapping parameter
0x1a06 TPDO 7 mapping parameter
0x1a07 TPDO 8 mapping parameter

0x2064 accurate_position_value
0x208f accurate_position_resolution
0x2100 Configure Bit Timing Parameters
0x2101 Node ID
0x2102 R Termination
0x2155 motctrl_speed_pid_p
0x2156 motctrl_speed_pid_i
0x2157 motctrl_speed_pid_d
0x2158 motctrl_speed_pid_tw
0x2159 motctrl_speed_pid_tn
0x2201 Hardware version
0x2202 Software version
0x2204 Product ID
0x2205 Software Reference
0x2400 control_ext
0x2401 status_ext
0x2620 Safety controlwords manufacturer
0x2621 Safety statuswords manufacturer
0x2622 Inverted Safety controlwords manufacturer
0x2623 Inverted Safety statuswords manufacturer
0x2624 ezw_safety_word_scw_mapping_permanent_cw1
0x2625 ezw_safety_word_scw_mapping_permanent_cw2
0x2630 Safety Function Output
0x2660 Brake present
0x26f1 ezw_safety_word_scw_mapping_safein
0x26f8 ezw_safety_word_ssw_mapping_safeout
0x3040 SBU command
0x3041 SBU status
0x3050 SLSa commands
0x3051 SLSa time to positive velocity monitoring
0x3052 SLSa positive velocity limit u32
0x3053 SLSa time for positive velocity in limits
0x3054 SLSa time to negative velocity monitoring
0x3055 SLSa negative velocity limit u32
0x3056 SLSa time for negative velocity in limits
0x3057 SLSa error reactions
0x3058 SLSa safety application configuration signature
0x3059 SLSa statuses

0x6007 abort_connection_option_code
0x603f error_code
0x6040 controlword
0x6041 statusword
0x6042 vl_target_velocity
0x6043 vl_velocity_demand
0x6044 vl_velocity_actual_value
0x6046 vl_velocity_min_max_amount
0x6048 vl_velocity_acceleration
0x6049 vl_velocity_deceleration
0x604a vl_velocity_quick_stop
0x604b vl_set_point_factor
0x604c vl_dimension_factor
0x605a quick_stop_option_code
0x605b shutdown_option_code
0x605c disable_operation_option_code
0x605d halt_option_code
0x605e fault_reaction_option_code
0x6060 modes_of_operation
0x6061 modes_of_operation_display
0x6064 position_value
0x606c velocity_actual_value
0x607e polarity
0x608f position_encoder_resolution
0x6090 velocity_encoder_resolution
0x6091 gear_ratio
0x6092 feed_constant
0x6402 motor_type
0x6403 motor_catalogue_number
0x6404 motor_manufacturer
0x6405 http_motor_catalogue_address
0x6406 motor_calibration_date
0x6407 motor_service_period
0x6502 supported_drive_modes
0x6503 drive_catalogue_number
0x6505 http_drive_catalogue_address
0x6600 Time unit
0x6601 Position unit
0x6602 Velocity unit
0x6603 Acceleration unit
0x6607 Safety application configuration valid
0x6608 Safety application configuration failed
0x6611 Safe position actual value i32
0x6613 Safe velocity actual value i32
0x661a Inverted safe position actual value i32
0x661c Inverted safe velocity actual value i32
0x6620 Safety controlwords
0x6621 Safety statuswords
0x6622 Inverted safety controlwords
0x6623 Inverted safety statuswords
0x6630 Restart acknowledge command
0x6631 Restart acknowledge status
0x6632 Error acknowledge command
0x6633 Error acknowledge status
0x6640 STO command
0x6641 STO restart acknowledge behavior
0x6643 STO activate SBC
0x6644 STO status
0x6645 STO safety application configuration signature
0x6660 SBC commands
0x6661 SBC brake time delay
0x6662 SBC safety application configuration signature
0x6667 SBC statuses
0x6690 SLS commands
0x6691 SLS time to velocity monitoring
0x6693 SLS velocity limit u32
0x6694 SLS time for velocity in limits
0x6698 SLS error reactions
0x6699 SLS safety application configuration signature
0x669f SLS statuses
0x66a8 SMS statuses
0x66aa SMS velocity maximum positive u32
0x66ac SMS velocity maximum negative u32
0x66ad SMS error reactions
0x66ae SMS safety application configuration signature
0x66d0 SDIp commands
0x66d1 SDIn commands
0x66d3 SDI position zero window u32
0x66d5 SDI velocity zero window u32
0x66d6 SDI safety application configuration signature
0x66de SDIp statuses
0x66df SDIn statuses
0x66f0 ezw_safety_word_scw_mapping_cw1
0x66f1 ezw_safety_word_scw_mapping_cw2
0x66f2 ezw_safety_word_scw_mapping_cw3
0x66f3 ezw_safety_word_scw_mapping_cw4
0x66f4 ezw_safety_word_scw_mapping_cw5
0x66f5 ezw_safety_word_scw_mapping_cw6
0x66f6 ezw_safety_word_scw_mapping_cw7
0x66f7 ezw_safety_word_scw_mapping_cw8
0x66f8 ezw_safety_word_ssw_mapping_sw1
0x66f9 ezw_safety_word_ssw_mapping_sw2
0x66fa ezw_safety_word_ssw_mapping_sw3
0x66fb ezw_safety_word_ssw_mapping_sw4
0x66fc ezw_safety_word_ssw_mapping_sw5
0x66fd ezw_safety_word_ssw_mapping_sw6
0x66fe ezw_safety_word_ssw_mapping_sw7
0x66ff ezw_safety_word_ssw_mapping_sw8
0x6800 Operating parameters
0x6801 Measuring units per revolution
0x6802 Total measuring range in measuring units
0x6803 Preset value
0x6810 Preset values for multi sensor devices
0x6820 Position values for multi sensor devices
0x6830 Speed value

Object: 0x1000 Device Type
Object Code Variable
Description This object shall provide information about the device type. The object describes the type of the logical
device and its functionality. It shall be composed of a 16-bit field that describes the device profile or
the application profile that is used and a second 16-bit field, which gives additional information about
optional functionality of the logical device. The additional information parameter is device profile
specific and application profile specific. Its specification does not fall within the scope of this
specification; it is defined in the appropriate device profile and application profile.

Sub 0x00
Name Device Type
Data Type UNSIGNED32
Access ro
Defaultvalue 0xFFF192
Low Limit 0
High Limit 4294967295
PDO Mapping no


Object: 0x1001 Error Register
Object Code Variable
Description This object shall provide error information. The CANopen device maps internal errors into this object. It
is a part of an emergency object.
If a specific error occurs the corresponding bit shall be set to 1b. The generic error bit shall be
supported. The other bits may be supported. The generic error shall be signaled at any error
situation.

Sub 0x00
Name Error Register
Data Type UNSIGNED8
Access ro
Defaultvalue 0
Low Limit 0
High Limit 255
PDO Mapping optional, TPDO only


Object: 0x1002 Manufacturer status register
Object Code Variable
Description This object shall provide a common status register for manufacturer-specific purposes. In this
specification only the size and the location of this object are defined.

Sub 0x00
Name Manufacturer status register
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping optional


Object: 0x1003 Pre defined error field
Object Code Array
Description This object shall provide the errors that occurred on the CANopen device and were signaled via the
emergency object. In doing so it provides an error history.
VALUE DEFINITION
The object entry at sub-index 00h shall contain the number of actual errors that are recorded in
the array starting at sub-index 01h.
NOTE: If no error is present the value of sub-index 00h is 00h and a read access to sub-index
01h is responded with an SDO abort message (abort code: 0800 0024h or 0800 0000h).
Every new error shall be stored at sub-index 01h; older errors shall be moved to the next
higher sub-index.
Writing 00h to sub-index 00h shall delete the entire error history (empties the array). Other
values than 00h are not allowed and shall lead to an abort message (error code: 0609 0030h).
The error numbers are of type UNSIGNED32 (see Table 26) and are composed of a 16-bit
error code and a 16-bit additional error information field, which is manufacturer-specific. The
error code shall be contained in the lower 2 bytes (LSB) and the additional information shall be
included in the upper 2 bytes (MSB). If this object is supported it shall consist of two object
entries at least. The length entry on sub-index 00h and at least one error entry at sub-index
01h.

Sub 0x00
Name Number of errors
Data Type UNSIGNED8
Access rw
Defaultvalue 0x00
PDO Mapping no

Sub 0x01
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x02
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x03
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x04
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x05
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x06
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x07
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x08
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x09
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x0a
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x0b
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x0c
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x0d
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x0e
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x0f
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x10
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x11
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x12
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x13
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x14
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x15
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x16
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x17
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x18
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x19
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x1a
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x1b
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x1c
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x1d
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x1e
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x1f
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x20
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x21
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x22
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x23
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x24
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x25
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x26
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x27
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x28
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x29
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x2a
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x2b
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x2c
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x2d
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x2e
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x2f
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x30
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x31
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x32
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x33
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x34
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x35
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x36
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x37
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x38
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x39
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x3a
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x3b
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x3c
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x3d
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x3e
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x3f
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x40
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x41
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x42
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x43
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x44
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x45
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x46
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x47
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x48
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x49
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x4a
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x4b
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x4c
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x4d
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x4e
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x4f
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x50
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x51
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x52
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x53
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x54
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x55
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x56
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x57
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x58
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x59
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x5a
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x5b
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x5c
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x5d
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x5e
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x5f
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x60
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x61
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x62
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x63
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x64
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x65
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x66
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x67
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x68
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x69
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x6a
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x6b
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x6c
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x6d
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x6e
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x6f
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x70
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x71
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x72
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x73
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x74
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x75
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x76
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x77
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x78
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x79
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x7a
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x7b
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x7c
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x7d
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x7e
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x7f
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x80
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x81
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x82
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x83
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x84
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x85
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x86
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x87
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x88
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x89
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x8a
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x8b
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x8c
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x8d
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x8e
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x8f
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x90
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x91
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x92
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x93
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x94
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x95
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x96
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x97
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x98
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x99
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x9a
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x9b
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x9c
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x9d
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x9e
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0x9f
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xa0
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xa1
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xa2
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xa3
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xa4
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xa5
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xa6
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xa7
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xa8
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xa9
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xaa
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xab
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xac
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xad
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xae
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xaf
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xb0
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xb1
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xb2
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xb3
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xb4
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xb5
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xb6
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xb7
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xb8
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xb9
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xba
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xbb
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xbc
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xbd
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xbe
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xbf
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xc0
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xc1
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xc2
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xc3
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xc4
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xc5
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xc6
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xc7
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xc8
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xc9
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xca
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xcb
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xcc
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xcd
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xce
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xcf
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xd0
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xd1
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xd2
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xd3
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xd4
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xd5
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xd6
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xd7
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xd8
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xd9
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xda
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xdb
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xdc
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xdd
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xde
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xdf
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xe0
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xe1
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xe2
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xe3
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xe4
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xe5
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xe6
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xe7
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xe8
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xe9
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xea
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xeb
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xec
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xed
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xee
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xef
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xf0
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xf1
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xf2
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xf3
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xf4
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xf5
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xf6
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xf7
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xf8
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xf9
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xfa
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xfb
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xfc
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xfd
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no

Sub 0xfe
Name Standard error field
Data Type UNSIGNED32
Access ro
Defaultvalue
PDO Mapping no


Object: 0x1005 COB ID SYNC message
Object Code Variable
Description This object shall indicate the configured COB-ID of the synchronization object (SYNC). Further, it
defines whether the CANopen device generates the SYNC.

Sub 0x00
Name COB ID SYNC message
Data Type UNSIGNED32
Access rw
Defaultvalue 0x00000080
Low Limit 128
High Limit 4294967295
PDO Mapping no


Object: 0x1008 Manufacturer device name
Object Code Variable
Description This object shall provide the name of the device as given by the manufacturer

Sub 0x00
Name Manufacturer device name
Data Type VISIBLE_STRING
Access const
Defaultvalue EZ-Wheel
PDO Mapping no


Object: 0x1009 Manufacturer hardware version
Object Code Variable
Description This object shall provide the manufacturer hardware version description.

Sub 0x00
Name Manufacturer hardware version
Data Type VISIBLE_STRING
Access const
Defaultvalue
PDO Mapping no


Object: 0x100a Manufacturer software version
Object Code Variable
Description This object shall provide the manufacturer software version description.

Sub 0x00
Name Manufacturer software version
Data Type VISIBLE_STRING
Access const
Defaultvalue
PDO Mapping no


Object: 0x1010 Store Parameters
Object Code Array
Description This object shall control the saving of parameters in non-volatile memory.

Sub 0x00
Name Number of entries
Data Type UNSIGNED8
Access const
Defaultvalue 7
Low Limit 1
High Limit 127
PDO Mapping no

Sub 0x01
Name Save all Parameters
Data Type UNSIGNED32
Access rw
Defaultvalue
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x02
Name Save Communication Parameters
Data Type UNSIGNED32
Access rw
Defaultvalue
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x03
Name Save Application Parameters
Data Type UNSIGNED32
Access rw
Defaultvalue
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x04
Name Save Manufacturer Parameters
Data Type UNSIGNED32
Access rw
Defaultvalue
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x05
Name Save LSS Parameters
Data Type UNSIGNED32
Access rw
Defaultvalue
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x06
Name Save Motor Calibration And Internal Parameters
Data Type UNSIGNED32
Access rw
Defaultvalue
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x07
Name Save Test Results
Data Type UNSIGNED32
Access rw
Defaultvalue
Low Limit 0
High Limit 4294967295
PDO Mapping no


Object: 0x1011 Restore Default Parameters
Object Code Array
Description With this object the default values of parameters according to the communication profile, device
profile, and application profile are restored.

Sub 0x00
Name Number of entries
Data Type UNSIGNED8
Access const
Defaultvalue 7
Low Limit 1
High Limit 127
PDO Mapping no

Sub 0x01
Name Restore all Default Parameters
Data Type UNSIGNED32
Access rw
Defaultvalue
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x02
Name Restore Communication Default Parameters
Data Type UNSIGNED32
Access rw
Defaultvalue
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x03
Name Restore Application Default Parameters
Data Type UNSIGNED32
Access rw
Defaultvalue
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x04
Name Restore Manufacturer Parameters
Data Type UNSIGNED32
Access rw
Defaultvalue
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x05
Name Restore LSS Parameters
Data Type UNSIGNED32
Access rw
Defaultvalue
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x06
Name Restore Motor Calibration And Internal Parameters
Data Type UNSIGNED32
Access rw
Defaultvalue
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x07
Name Restore Test Results
Data Type UNSIGNED32
Access rw
Defaultvalue
Low Limit 0
High Limit 4294967295
PDO Mapping no


Object: 0x1014 COB-ID EMCY message
Object Code Variable
Description This object shall indicate the configured COB-ID for the EMCY write service.

Sub 0x00
Name COB-ID EMCY message
Data Type UNSIGNED32
Access rw
Defaultvalue $NODEID+0x00000080
PDO Mapping no


Object: 0x1017 Producer Heartbeat Time
Object Code Variable
Description The producer heartbeat time shall indicate the configured cycle time of the heartbeat produced by the device.

The value shall be given in multiples of 1 ms. The value 0 shall disable the producer heartbeat.

Sub 0x00
Name Producer Heartbeat Time
Data Type UNSIGNED16
Access rw
Defaultvalue 500
Low Limit 0
High Limit 65535
PDO Mapping no


Object: 0x1018 Identity Object
Object Code Record
Description This object shall provide general identification information of the CANopen device.

Sub 0x00
Name Number of entries
Data Type UNSIGNED8
Access const
Defaultvalue 4
Low Limit 1
High Limit 4
PDO Mapping no

Sub 0x01
Name Vendor Id
Data Type UNSIGNED32
Access ro
Defaultvalue 0x00000515
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x02
Name Product Code
Data Type UNSIGNED32
Access ro
Low Limit 0
High Limit 4294967295
Description This object indicates the product ID of the SWD.
When 0, no product ID was found in the product, else:

ezSWDcore.0/C 1
ezSWDcore.4/C 2
ezSWDcore.14/C 3
ezSWDcore.25/C 4
ezSWDcore.50/C 5
ezSWDcore.100/C 6

ezSWD125IM.4/C 7
ezSWD125IM.4/C_PRO 8
ezSWD125IM.14/C 9
ezSWD125IM.25/C 10

ezSWDcore.0B/C 11
ezSWDcore.4B/C 12
ezSWDcore.14B/C 13
ezSWDcore.25B/C 14
ezSWDcore.50B/C 15
ezSWDcore.100B/C 16

ezSWD125IM.4B/C 17
ezSWD125IM.14B/C 18
ezSWD125IM.25B/C 19

ezSWD150IH.14/C-0 20
ezSWD150IH.25/C-0 21
ezSWD150IH.14/C-1 22
ezSWD150IH.25/C-1 23

ezSWD150IH.14B/C-0 24
ezSWD150IH.25B/C-0 25
ezSWD150IH.14B/C-1 26
ezSWD150IH.25B/C-1 27

ezSWD200IH.14/C-0 28
ezSWD200IH.25/C-0 29
ezSWD200IH.14/C-1 30
ezSWD200IH.25/C-1 31

ezSWD200IH.14B/C-0 32
ezSWD200IH.25B/C-0 33
ezSWD200IH.14B/C-1 34
ezSWD200IH.25B/C-1 35

E_202777_SMC_GM 36
E_202727_SMC_GN2 37
PDO Mapping no

Sub 0x03
Name Revision number
Data Type UNSIGNED32
Access ro
Defaultvalue 0x00020000
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x04
Name Serial number
Data Type UNSIGNED32
Access ro
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no


Object: 0x1029 Error behaviour
Object Code Array
Description If a serious CANopen device failure is detected in NMT state Operational, the CANopen device shall
enter by default autonomously the NMT state Pre-operational. If the object is implemented, the
CANopen device is configurable to enter alternatively the NMT state Stopped or remain in the current
NMT state. CANopen device failures shall include the following communication errors:
• Bus-off conditions of the CAN interface
• Life guarding event with the state ‘occurred’ and the reason time out
• Heartbeat event with state ‘occurred’ and the reason "time out"
Severe CANopen device errors also may be caused by CANopen device internal failures.

Sub 0x00
Name error_behaviour_highest_sub_index
Data Type UNSIGNED8
Access const
Defaultvalue 3
Low Limit 0
High Limit 254
PDO Mapping no

Sub 0x01
Name error_behaviour_communication_error
Data Type UNSIGNED8
Access rw
Low Limit 0
High Limit 255
PDO Mapping no

Sub 0x02
Name error_behaviour_syserr_for_error
Data Type UNSIGNED8
Access rw
Low Limit 0
High Limit 255
PDO Mapping no

Sub 0x03
Name error_behaviour_syserr_for_warning
Data Type UNSIGNED8
Access rw
Low Limit 0
High Limit 255
PDO Mapping no


Object: 0x1200 SDO 1 server parameter
Object Code Record
Description In order to describe the SDOs used on a CANopen device the data type SDO Parameter is
introduced. The data type has the index 22h in the object dictionary.

Sub 0x00
Name Highest sub index supported
Data Type UNSIGNED8
Access const
Defaultvalue 2
Low Limit 0
High Limit 2
PDO Mapping no

Sub 0x01
Name COB ID client to server
Data Type UNSIGNED32
Access const
Defaultvalue $NODEID+0x600
Low Limit 1536
High Limit 1663
PDO Mapping no

Sub 0x02
Name COB ID server to client
Data Type UNSIGNED32
Access ro
Defaultvalue $NODEID+0x580
Low Limit 1408
High Limit 1535
PDO Mapping no


Object: 0x1201 SDO 2 server parameter
Object Code Record
Description In order to describe the SDOs used on a CANopen device the data type SDO Parameter is
introduced. The data type has the index 22h in the object dictionary.

Sub 0x00
Name Highest sub index supported
Data Type UNSIGNED8
Access const
Defaultvalue 2
Low Limit 0
High Limit 2
PDO Mapping no

Sub 0x01
Name COB ID client to server
Data Type UNSIGNED32
Access const
Defaultvalue 0x80000000
PDO Mapping no

Sub 0x02
Name COB ID server to client
Data Type UNSIGNED32
Access ro
Defaultvalue 0x80000000
PDO Mapping no


Object: 0x1202 SDO 3 server parameter
Object Code Record
Description In order to describe the SDOs used on a CANopen device the data type SDO Parameter is
introduced. The data type has the index 22h in the object dictionary.

Sub 0x00
Name Highest sub index supported
Data Type UNSIGNED8
Access const
Defaultvalue 2
Low Limit 0
High Limit 2
PDO Mapping no

Sub 0x01
Name COB ID client to server
Data Type UNSIGNED32
Access const
Defaultvalue 0x80000000
PDO Mapping no

Sub 0x02
Name COB ID server to client
Data Type UNSIGNED32
Access ro
Defaultvalue 0x80000000
PDO Mapping no


Object: 0x1203 SDO 4 server parameter
Object Code Record
Description In order to describe the SDOs used on a CANopen device the data type SDO Parameter is
introduced. The data type has the index 22h in the object dictionary.

Sub 0x00
Name Highest sub index supported
Data Type UNSIGNED8
Access const
Defaultvalue 2
Low Limit 0
High Limit 2
PDO Mapping no

Sub 0x01
Name COB ID client to server
Data Type UNSIGNED32
Access const
Defaultvalue 0x80000000
PDO Mapping no

Sub 0x02
Name COB ID server to client
Data Type UNSIGNED32
Access ro
Defaultvalue 0x80000000
PDO Mapping no


Object: 0x1301 SRDO 1 communication parameter
Object Code Record
Description These objects shall contain the communication parameters for the SRDOs the device is able to receive
or to transmit.

Sub 0x00
Name Highest sub index supported
Data Type UNSIGNED8
Access ro
Defaultvalue 0x06
Low Limit 6
High Limit 6
PDO Mapping no

Sub 0x01
Name Information direction
Data Type UNSIGNED8
Access rw
Defaultvalue 0x02
Low Limit 0
High Limit 2
PDO Mapping no

Sub 0x02
Name tx_refresh time rx_SCT
Data Type UNSIGNED16
Access rw
Defaultvalue 0x32
Low Limit 1
High Limit 65535
PDO Mapping no

Sub 0x03
Name tx_reserved rx_SRVT
Data Type UNSIGNED8
Access rw
Defaultvalue 0x14
Low Limit 1
High Limit 255
PDO Mapping no

Sub 0x04
Name Transmission type
Data Type UNSIGNED8
Access rw
Defaultvalue 0xFE
Low Limit 254
High Limit 254
PDO Mapping no

Sub 0x05
Name COB ID 1
Data Type UNSIGNED32
Access rw
Defaultvalue (($NODEID)*2)+0xff
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x06
Name COB ID 2
Data Type UNSIGNED32
Access rw
Defaultvalue (($NODEID)*2)+0x100
Low Limit 0
High Limit 4294967295
PDO Mapping no


Object: 0x1302 SRDO 2 communication parameter
Object Code Record
Description These objects shall contain the communication parameters for the SRDOs the device is able to receive
or to transmit.

Sub 0x00
Name Highest sub index supported
Data Type UNSIGNED8
Access ro
Defaultvalue 0x06
Low Limit 6
High Limit 6
PDO Mapping no

Sub 0x01
Name Information direction
Data Type UNSIGNED8
Access rw
Defaultvalue 0x01
Low Limit 0
High Limit 2
PDO Mapping no

Sub 0x02
Name tx_refresh time rx_SCT
Data Type UNSIGNED16
Access rw
Defaultvalue 0x19
Low Limit 1
High Limit 65535
PDO Mapping no

Sub 0x03
Name tx_reserved rx_SRVT
Data Type UNSIGNED8
Access rw
Defaultvalue 0x14
Low Limit 0
High Limit 255
PDO Mapping no

Sub 0x04
Name Transmission type
Data Type UNSIGNED8
Access rw
Defaultvalue 0xFE
Low Limit 254
High Limit 254
PDO Mapping no

Sub 0x05
Name COB ID 1
Data Type UNSIGNED32
Access rw
Defaultvalue 0x103
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x06
Name COB ID 2
Data Type UNSIGNED32
Access rw
Defaultvalue 0x104
Low Limit 0
High Limit 4294967295
PDO Mapping no


Object: 0x1309 SRDO 9 communication parameter
Object Code Record
Description These objects shall contain the communication parameters for the SRDOs the device is able to receive
or to transmit.

Sub 0x00
Name Highest sub index supported
Data Type UNSIGNED8
Access ro
Defaultvalue 0x06
Low Limit 6
High Limit 6
PDO Mapping no

Sub 0x01
Name Information direction
Data Type UNSIGNED8
Access rw
Defaultvalue 0x00
Low Limit 0
High Limit 2
PDO Mapping no

Sub 0x02
Name tx_refresh time rx_SCT
Data Type UNSIGNED16
Access rw
Defaultvalue 0x32
Low Limit 0
High Limit 65535
PDO Mapping no

Sub 0x03
Name tx_reserved rx_SRVT
Data Type UNSIGNED8
Access rw
Defaultvalue 0x14
Low Limit 0
High Limit 255
PDO Mapping no

Sub 0x04
Name Transmission type
Data Type UNSIGNED8
Access rw
Defaultvalue 0xFE
Low Limit 0
High Limit 255
PDO Mapping no

Sub 0x05
Name COB ID 1
Data Type UNSIGNED32
Access rw
Defaultvalue 0x105
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x06
Name COB ID 2
Data Type UNSIGNED32
Access rw
Defaultvalue 0x106
Low Limit 0
High Limit 4294967295
PDO Mapping no


Object: 0x130a SRDO 10 communication parameter
Object Code Record
Description These objects shall contain the communication parameters for the SRDOs the device is able to receive
or to transmit.

Sub 0x00
Name Highest sub index supported
Data Type UNSIGNED8
Access ro
Defaultvalue 0x06
Low Limit 6
High Limit 6
PDO Mapping no

Sub 0x01
Name Information direction
Data Type UNSIGNED8
Access rw
Defaultvalue 0x00
Low Limit 0
High Limit 2
PDO Mapping no

Sub 0x02
Name tx_refresh time rx_SCT
Data Type UNSIGNED16
Access rw
Defaultvalue 0x19
Low Limit 0
High Limit 65535
PDO Mapping no

Sub 0x03
Name tx_reserved rx_SRVT
Data Type UNSIGNED8
Access rw
Defaultvalue 0x14
Low Limit 0
High Limit 255
PDO Mapping no

Sub 0x04
Name Transmission type
Data Type UNSIGNED8
Access rw
Defaultvalue 0xFE
Low Limit 0
High Limit 255
PDO Mapping no

Sub 0x05
Name COB ID 1
Data Type UNSIGNED32
Access rw
Defaultvalue 0x107
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x06
Name COB ID 2
Data Type UNSIGNED32
Access rw
Defaultvalue 0x108
Low Limit 0
High Limit 4294967295
PDO Mapping no


Object: 0x130b SRDO 11 communication parameter
Object Code Record
Description These objects shall contain the communication parameters for the SRDOs the device is able to receive
or to transmit.

Sub 0x00
Name Highest sub index supported
Data Type UNSIGNED8
Access ro
Defaultvalue 0x06
Low Limit 6
High Limit 6
PDO Mapping no

Sub 0x01
Name Information direction
Data Type UNSIGNED8
Access rw
Defaultvalue 0x00
Low Limit 0
High Limit 2
PDO Mapping no

Sub 0x02
Name tx_refresh time rx_SCT
Data Type UNSIGNED16
Access rw
Defaultvalue 0x32
Low Limit 0
High Limit 65535
PDO Mapping no

Sub 0x03
Name tx_reserved rx_SRVT
Data Type UNSIGNED8
Access rw
Defaultvalue 0x14
Low Limit 0
High Limit 255
PDO Mapping no

Sub 0x04
Name Transmission type
Data Type UNSIGNED8
Access rw
Defaultvalue 0xFE
Low Limit 0
High Limit 255
PDO Mapping no

Sub 0x05
Name COB ID 1
Data Type UNSIGNED32
Access rw
Defaultvalue 0x109
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x06
Name COB ID 2
Data Type UNSIGNED32
Access rw
Defaultvalue 0x10A
Low Limit 0
High Limit 4294967295
PDO Mapping no


Object: 0x130c SRDO 12 communication parameter
Object Code Record
Description These objects shall contain the communication parameters for the SRDOs the device is able to receive
or to transmit.

Sub 0x00
Name Highest sub index supported
Data Type UNSIGNED8
Access ro
Defaultvalue 0x06
Low Limit 6
High Limit 6
PDO Mapping no

Sub 0x01
Name Information direction
Data Type UNSIGNED8
Access rw
Defaultvalue 0x00
Low Limit 0
High Limit 2
PDO Mapping no

Sub 0x02
Name tx_refresh time rx_SCT
Data Type UNSIGNED16
Access rw
Defaultvalue 0x32
Low Limit 0
High Limit 65535
PDO Mapping no

Sub 0x03
Name tx_reserved rx_SRVT
Data Type UNSIGNED8
Access rw
Defaultvalue 0x14
Low Limit 0
High Limit 255
PDO Mapping no

Sub 0x04
Name Transmission type
Data Type UNSIGNED8
Access rw
Defaultvalue 0xFE
Low Limit 0
High Limit 255
PDO Mapping no

Sub 0x05
Name COB ID 1
Data Type UNSIGNED32
Access rw
Defaultvalue 0x10B
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x06
Name COB ID 2
Data Type UNSIGNED32
Access rw
Defaultvalue 0x10C
Low Limit 0
High Limit 4294967295
PDO Mapping no


Object: 0x130d SRDO 13 communication parameter
Object Code Record
Description These objects shall contain the communication parameters for the SRDOs the device is able to receive
or to transmit.

Sub 0x00
Name Highest sub index supported
Data Type UNSIGNED8
Access ro
Defaultvalue 0x06
Low Limit 6
High Limit 6
PDO Mapping no

Sub 0x01
Name Information direction
Data Type UNSIGNED8
Access rw
Defaultvalue 0x00
Low Limit 0
High Limit 2
PDO Mapping no

Sub 0x02
Name tx_refresh time rx_SCT
Data Type UNSIGNED16
Access rw
Defaultvalue 0x32
Low Limit 0
High Limit 65535
PDO Mapping no

Sub 0x03
Name tx_reserved rx_SRVT
Data Type UNSIGNED8
Access rw
Defaultvalue 0x14
Low Limit 0
High Limit 255
PDO Mapping no

Sub 0x04
Name Transmission type
Data Type UNSIGNED8
Access rw
Defaultvalue 0xFE
Low Limit 0
High Limit 255
PDO Mapping no

Sub 0x05
Name COB ID 1
Data Type UNSIGNED32
Access rw
Defaultvalue 0x10D
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x06
Name COB ID 2
Data Type UNSIGNED32
Access rw
Defaultvalue 0x10E
Low Limit 0
High Limit 4294967295
PDO Mapping no


Object: 0x130e SRDO 14 communication parameter
Object Code Record
Description These objects shall contain the communication parameters for the SRDOs the device is able to receive
or to transmit.

Sub 0x00
Name Highest sub index supported
Data Type UNSIGNED8
Access ro
Defaultvalue 0x06
Low Limit 6
High Limit 6
PDO Mapping no

Sub 0x01
Name Information direction
Data Type UNSIGNED8
Access rw
Defaultvalue 0x00
Low Limit 0
High Limit 2
PDO Mapping no

Sub 0x02
Name tx_refresh time rx_SCT
Data Type UNSIGNED16
Access rw
Defaultvalue 0x32
Low Limit 0
High Limit 65535
PDO Mapping no

Sub 0x03
Name tx_reserved rx_SRVT
Data Type UNSIGNED8
Access rw
Defaultvalue 0x14
Low Limit 0
High Limit 255
PDO Mapping no

Sub 0x04
Name Transmission type
Data Type UNSIGNED8
Access rw
Defaultvalue 0xFE
Low Limit 0
High Limit 255
PDO Mapping no

Sub 0x05
Name COB ID 1
Data Type UNSIGNED32
Access rw
Defaultvalue 0x10F
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x06
Name COB ID 2
Data Type UNSIGNED32
Access rw
Defaultvalue 0x110
Low Limit 0
High Limit 4294967295
PDO Mapping no


Object: 0x130f SRDO 15 communication parameter
Object Code Record
Description These objects shall contain the communication parameters for the SRDOs the device is able to receive
or to transmit.

Sub 0x00
Name Highest sub index supported
Data Type UNSIGNED8
Access ro
Defaultvalue 0x06
Low Limit 6
High Limit 6
PDO Mapping no

Sub 0x01
Name Information direction
Data Type UNSIGNED8
Access rw
Defaultvalue 0x00
Low Limit 0
High Limit 2
PDO Mapping no

Sub 0x02
Name tx_refresh time rx_SCT
Data Type UNSIGNED16
Access rw
Defaultvalue 0x32
Low Limit 0
High Limit 65535
PDO Mapping no

Sub 0x03
Name tx_reserved rx_SRVT
Data Type UNSIGNED8
Access rw
Defaultvalue 0x14
Low Limit 0
High Limit 255
PDO Mapping no

Sub 0x04
Name Transmission type
Data Type UNSIGNED8
Access rw
Defaultvalue 0xFE
Low Limit 0
High Limit 255
PDO Mapping no

Sub 0x05
Name COB ID 1
Data Type UNSIGNED32
Access rw
Defaultvalue 0x111
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x06
Name COB ID 2
Data Type UNSIGNED32
Access rw
Defaultvalue 0x112
Low Limit 0
High Limit 4294967295
PDO Mapping no


Object: 0x1310 SRDO 16 communication parameter
Object Code Record
Description These objects shall contain the communication parameters for the SRDOs the device is able to receive
or to transmit.

Sub 0x00
Name Highest sub index supported
Data Type UNSIGNED8
Access ro
Defaultvalue 0x06
Low Limit 6
High Limit 6
PDO Mapping no

Sub 0x01
Name Information direction
Data Type UNSIGNED8
Access rw
Defaultvalue 0x00
Low Limit 0
High Limit 2
PDO Mapping no

Sub 0x02
Name tx_refresh time rx_SCT
Data Type UNSIGNED16
Access rw
Defaultvalue 0x32
Low Limit 0
High Limit 65535
PDO Mapping no

Sub 0x03
Name tx_reserved rx_SRVT
Data Type UNSIGNED8
Access rw
Defaultvalue 0x14
Low Limit 0
High Limit 255
PDO Mapping no

Sub 0x04
Name Transmission type
Data Type UNSIGNED8
Access rw
Defaultvalue 0xFE
Low Limit 0
High Limit 255
PDO Mapping no

Sub 0x05
Name COB ID 1
Data Type UNSIGNED32
Access rw
Defaultvalue 0x113
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x06
Name COB ID 2
Data Type UNSIGNED32
Access rw
Defaultvalue 0x114
Low Limit 0
High Limit 4294967295
PDO Mapping no


Object: 0x1381 SRDO 1 mapping parameter
Object Code Array
Description These objects shall contain the mapping parameters for the SRDOs the device is able to receive or
transmit. The type of the SRDO mapping parameter is an array of type UNSIGNED32. The sub-index
00h contains the number of valid entries within the mapping array. This half of the number of entries is
also the number of the application variables, which shall be received/transmitted with the corresponding
SRDO. The sub-indices from 01h to number of entries contain the information about the mapped
application variables. The structure and the procedure for the mapping is described in /CiA301/. For
changing the SRDO mapping first the SRDO shall be deleted.

Sub 0x00
Name Highest sub-index supported
Data Type UNSIGNED8
Access const
Defaultvalue 2
Low Limit 0
High Limit 16
PDO Mapping no

Sub 0x01
Name Mapping Entry 1 plain
Data Type UNSIGNED32
Access const
Defaultvalue 0x66200108
Low Limit 0x66200108
High Limit 0x66200108
PDO Mapping no

Sub 0x02
Name Mapping Entry 1 inverted
Data Type UNSIGNED32
Access const
Defaultvalue 0x66220108
Low Limit 0x66220108
High Limit 0x66220108
PDO Mapping no


Object: 0x1382 SRDO 2 mapping parameter
Object Code Array
Description These objects shall contain the mapping parameters for the SRDOs the device is able to receive or
transmit. The type of the SRDO mapping parameter is an array of type UNSIGNED32. The sub-index
00h contains the number of valid entries within the mapping array. This half of the number of entries is
also the number of the application variables, which shall be received/transmitted with the corresponding
SRDO. The sub-indices from 01h to number of entries contain the information about the mapped
application variables. The structure and the procedure for the mapping is described in /CiA301/. For
changing the SRDO mapping first the SRDO shall be deleted.

Sub 0x00
Name Highest sub-index supported
Data Type UNSIGNED8
Access const
Defaultvalue 16
Low Limit 0
High Limit 16
PDO Mapping no

Sub 0x01
Name Mapping Entry 1 plain
Data Type UNSIGNED32
Access const
Defaultvalue 0x66210108
Low Limit 0x66210108
High Limit 0x66210108
PDO Mapping no

Sub 0x02
Name Mapping Entry 1 inverted
Data Type UNSIGNED32
Access const
Defaultvalue 0x66230108
Low Limit 0x66230108
High Limit 0x66230108
PDO Mapping no

Sub 0x03
Name Mapping Entry 2 plain
Data Type UNSIGNED32
Access const
Defaultvalue 0x66210208
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x04
Name Mapping Entry 2 inverted
Data Type UNSIGNED32
Access const
Defaultvalue 0x66230208
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x05
Name Mapping Entry 3 plain
Data Type UNSIGNED32
Access const
Defaultvalue 0x66210308
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x06
Name Mapping Entry 3 inverted
Data Type UNSIGNED32
Access const
Defaultvalue 0x66230308
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x07
Name Mapping Entry 4 plain
Data Type UNSIGNED32
Access const
Defaultvalue 0x66210408
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x08
Name Mapping Entry 4 inverted
Data Type UNSIGNED32
Access const
Defaultvalue 0x66230408
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x09
Name Mapping Entry 5 plain
Data Type UNSIGNED32
Access const
Defaultvalue 0x66210508
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x0a
Name Mapping Entry 5 inverted
Data Type UNSIGNED32
Access const
Defaultvalue 0x66230508
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x0b
Name Mapping Entry 6 plain
Data Type UNSIGNED32
Access const
Defaultvalue 0x66210608
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x0c
Name Mapping Entry 6 inverted
Data Type UNSIGNED32
Access const
Defaultvalue 0x66230608
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x0d
Name Mapping Entry 7 plain
Data Type UNSIGNED32
Access const
Defaultvalue 0x66210708
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x0e
Name Mapping Entry 7 inverted
Data Type UNSIGNED32
Access const
Defaultvalue 0x66230708
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x0f
Name Mapping Entry 8 plain
Data Type UNSIGNED32
Access const
Defaultvalue 0x66210808
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x10
Name Mapping Entry 8 inverted
Data Type UNSIGNED32
Access const
Defaultvalue 0x66230808
Low Limit 0
High Limit 4294967295
PDO Mapping no


Object: 0x1389 SRDO 9 mapping parameter
Object Code Array
Description These objects shall contain the mapping parameters for the SRDOs the device is able to receive or
transmit. The type of the SRDO mapping parameter is an array of type UNSIGNED32. The sub-index
00h contains the number of valid entries within the mapping array. This half of the number of entries is
also the number of the application variables, which shall be received/transmitted with the corresponding
SRDO. The sub-indices from 01h to number of entries contain the information about the mapped
application variables. The structure and the procedure for the mapping is described in /CiA301/. For
changing the SRDO mapping first the SRDO shall be deleted.

Sub 0x00
Name Highest sub-index supported
Data Type UNSIGNED8
Access const
Defaultvalue 2
Low Limit 0
High Limit 16
PDO Mapping no

Sub 0x01
Name Mapping Entry 1 plain
Data Type UNSIGNED32
Access const
Defaultvalue 0x66200208
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x02
Name Mapping Entry 1 inverted
Data Type UNSIGNED32
Access const
Defaultvalue 0x66220208
Low Limit 0
High Limit 4294967295
PDO Mapping no


Object: 0x138a SRDO 10 mapping parameter
Object Code Array
Description These objects shall contain the mapping parameters for the SRDOs the device is able to receive or
transmit. The type of the SRDO mapping parameter is an array of type UNSIGNED32. The sub-index
00h contains the number of valid entries within the mapping array. This half of the number of entries is
also the number of the application variables, which shall be received/transmitted with the corresponding
SRDO. The sub-indices from 01h to number of entries contain the information about the mapped
application variables. The structure and the procedure for the mapping is described in /CiA301/. For
changing the SRDO mapping first the SRDO shall be deleted.

Sub 0x00
Name Highest sub-index supported
Data Type UNSIGNED8
Access const
Defaultvalue 4
Low Limit 0
High Limit 16
PDO Mapping no

Sub 0x01
Name Mapping Entry 1 plain
Data Type UNSIGNED32
Access const
Defaultvalue 0x66110020
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x02
Name Mapping Entry 1 inverted
Data Type UNSIGNED32
Access const
Defaultvalue 0x661a0020
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x03
Name Mapping Entry 2 plain
Data Type UNSIGNED32
Access const
Defaultvalue 0x66130020
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x04
Name Mapping Entry 2 inverted
Data Type UNSIGNED32
Access const
Defaultvalue 0x661c0020
Low Limit 0
High Limit 4294967295
PDO Mapping no


Object: 0x138b SRDO 11 mapping parameter
Object Code Array
Description These objects shall contain the mapping parameters for the SRDOs the device is able to receive or
transmit. The type of the SRDO mapping parameter is an array of type UNSIGNED32. The sub-index
00h contains the number of valid entries within the mapping array. This half of the number of entries is
also the number of the application variables, which shall be received/transmitted with the corresponding
SRDO. The sub-indices from 01h to number of entries contain the information about the mapped
application variables. The structure and the procedure for the mapping is described in /CiA301/. For
changing the SRDO mapping first the SRDO shall be deleted.

Sub 0x00
Name Highest sub-index supported
Data Type UNSIGNED8
Access const
Defaultvalue 2
Low Limit 0
High Limit 16
PDO Mapping no

Sub 0x01
Name Mapping Entry 1 plain
Data Type UNSIGNED32
Access const
Defaultvalue 0x66200308
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x02
Name Mapping Entry 1 inverted
Data Type UNSIGNED32
Access const
Defaultvalue 0x66220308
Low Limit 0
High Limit 4294967295
PDO Mapping no


Object: 0x138c SRDO 12 mapping parameter
Object Code Array
Description These objects shall contain the mapping parameters for the SRDOs the device is able to receive or
transmit. The type of the SRDO mapping parameter is an array of type UNSIGNED32. The sub-index
00h contains the number of valid entries within the mapping array. This half of the number of entries is
also the number of the application variables, which shall be received/transmitted with the corresponding
SRDO. The sub-indices from 01h to number of entries contain the information about the mapped
application variables. The structure and the procedure for the mapping is described in /CiA301/. For
changing the SRDO mapping first the SRDO shall be deleted.

Sub 0x00
Name Highest sub-index supported
Data Type UNSIGNED8
Access const
Defaultvalue 2
Low Limit 0
High Limit 16
PDO Mapping no

Sub 0x01
Name Mapping Entry 1 plain
Data Type UNSIGNED32
Access const
Defaultvalue 0x66200408
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x02
Name Mapping Entry 1 inverted
Data Type UNSIGNED32
Access const
Defaultvalue 0x66220408
Low Limit 0
High Limit 4294967295
PDO Mapping no


Object: 0x138d SRDO 13 mapping parameter
Object Code Array
Description These objects shall contain the mapping parameters for the SRDOs the device is able to receive or
transmit. The type of the SRDO mapping parameter is an array of type UNSIGNED32. The sub-index
00h contains the number of valid entries within the mapping array. This half of the number of entries is
also the number of the application variables, which shall be received/transmitted with the corresponding
SRDO. The sub-indices from 01h to number of entries contain the information about the mapped
application variables. The structure and the procedure for the mapping is described in /CiA301/. For
changing the SRDO mapping first the SRDO shall be deleted.

Sub 0x00
Name Highest sub-index supported
Data Type UNSIGNED8
Access const
Defaultvalue 2
Low Limit 0
High Limit 16
PDO Mapping no

Sub 0x01
Name Mapping Entry 1 plain
Data Type UNSIGNED32
Access const
Defaultvalue 0x66200508
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x02
Name Mapping Entry 1 inverted
Data Type UNSIGNED32
Access const
Defaultvalue 0x66220508
Low Limit 0
High Limit 4294967295
PDO Mapping no


Object: 0x138e SRDO 14 mapping parameter
Object Code Array
Description These objects shall contain the mapping parameters for the SRDOs the device is able to receive or
transmit. The type of the SRDO mapping parameter is an array of type UNSIGNED32. The sub-index
00h contains the number of valid entries within the mapping array. This half of the number of entries is
also the number of the application variables, which shall be received/transmitted with the corresponding
SRDO. The sub-indices from 01h to number of entries contain the information about the mapped
application variables. The structure and the procedure for the mapping is described in /CiA301/. For
changing the SRDO mapping first the SRDO shall be deleted.

Sub 0x00
Name Highest sub-index supported
Data Type UNSIGNED8
Access const
Defaultvalue 2
Low Limit 0
High Limit 16
PDO Mapping no

Sub 0x01
Name Mapping Entry 1 plain
Data Type UNSIGNED32
Access const
Defaultvalue 0x66200608
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x02
Name Mapping Entry 1 inverted
Data Type UNSIGNED32
Access const
Defaultvalue 0x66220608
Low Limit 0
High Limit 4294967295
PDO Mapping no


Object: 0x138f SRDO 15 mapping parameter
Object Code Array
Description These objects shall contain the mapping parameters for the SRDOs the device is able to receive or
transmit. The type of the SRDO mapping parameter is an array of type UNSIGNED32. The sub-index
00h contains the number of valid entries within the mapping array. This half of the number of entries is
also the number of the application variables, which shall be received/transmitted with the corresponding
SRDO. The sub-indices from 01h to number of entries contain the information about the mapped
application variables. The structure and the procedure for the mapping is described in /CiA301/. For
changing the SRDO mapping first the SRDO shall be deleted.

Sub 0x00
Name Highest sub-index supported
Data Type UNSIGNED8
Access const
Defaultvalue 4
Low Limit 0
High Limit 16
PDO Mapping no

Sub 0x01
Name Mapping Entry 1 plain
Data Type UNSIGNED32
Access const
Defaultvalue 0x66200708
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x02
Name Mapping Entry 1 inverted
Data Type UNSIGNED32
Access const
Defaultvalue 0x66220708
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x03
Name Mapping Entry 3 plain
Data Type UNSIGNED32
Access const
Defaultvalue 0x66200808
PDO Mapping no

Sub 0x04
Name Mapping Entry 4 inverted
Data Type UNSIGNED32
Access const
Defaultvalue 0x66220808
PDO Mapping no


Object: 0x1390 SRDO 16 mapping parameter
Object Code Array
Description These objects shall contain the mapping parameters for the SRDOs the device is able to receive or
transmit. The type of the SRDO mapping parameter is an array of type UNSIGNED32. The sub-index
00h contains the number of valid entries within the mapping array. This half of the number of entries is
also the number of the application variables, which shall be received/transmitted with the corresponding
SRDO. The sub-indices from 01h to number of entries contain the information about the mapped
application variables. The structure and the procedure for the mapping is described in /CiA301/. For
changing the SRDO mapping first the SRDO shall be deleted.

Sub 0x00
Name Highest sub-index supported
Data Type UNSIGNED8
Access const
Defaultvalue 2
Low Limit 0
High Limit 16
PDO Mapping no

Sub 0x01
Name Mapping Entry 1
Data Type UNSIGNED32
Access const
Defaultvalue 0x26200208
PDO Mapping no

Sub 0x02
Name Mapping Entry 2
Data Type UNSIGNED32
Access const
Defaultvalue 0x26220208
PDO Mapping no


Object: 0x13fe Configuration valid
Object Code Variable
Description This object shall contain an acknowledgement flag for a valid configuration. After write access to any
of the safety-relevant parameter, this object shall be automatically set to invalid configuration (00h). If
the configuration is finished, the user writes the “valid” value to this object.

Sub 0x00
Name Configuration valid
Data Type UNSIGNED8
Access rw
Defaultvalue 0xA5
Low Limit 0
High Limit 255
PDO Mapping no


Object: 0x13ff Safety configuration signature
Object Code Array
Description Contains an acknowledgement flag for a valid configuration.
The value for the valid flag is A5h (165d)all other values are not valid.
After a write access to the safety-relevant parameter the entry of object13FEh is automatically 0 or rather “not valid”
If the configuration is finished it shall be acknowledgedwith an entry A5h or rather “valid” in object 13FEh.

Sub 0x00
Name Highest sub-index supported
Data Type UNSIGNED8
Access ro
Defaultvalue 16
Low Limit 0
High Limit 255
PDO Mapping no

Sub 0x01
Name SRDO 1 signature
Data Type UNSIGNED16
Access rw
Defaultvalue 0x70AB
PDO Mapping no

Sub 0x02
Name SRDO 2 signature
Data Type UNSIGNED16
Access rw
Defaultvalue 0x8C5F
Low Limit 0
High Limit 65535
PDO Mapping no

Sub 0x09
Name SRDO 9 signature
Data Type UNSIGNED16
Access rw
Defaultvalue 0x6C9B
PDO Mapping no

Sub 0x0a
Name SRDO 10 signature
Data Type UNSIGNED16
Access rw
Defaultvalue 0x2274
PDO Mapping no

Sub 0x0b
Name SRDO 11 signature
Data Type UNSIGNED16
Access rw
Defaultvalue 0x78AE
PDO Mapping no

Sub 0x0c
Name SRDO 12 signature
Data Type UNSIGNED16
Access rw
Defaultvalue 0x4052
PDO Mapping no

Sub 0x0d
Name SRDO 13 signature
Data Type UNSIGNED16
Access rw
Defaultvalue 0x9968
PDO Mapping no

Sub 0x0e
Name SRDO 14 signature
Data Type UNSIGNED16
Access rw
Defaultvalue 0x1BF6
PDO Mapping no

Sub 0x0f
Name SRDO 15 signature
Data Type UNSIGNED16
Access rw
Defaultvalue 0x3A94
PDO Mapping no

Sub 0x10
Name SRDO 16 signature
Data Type UNSIGNED16
Access rw
Defaultvalue 0x9941
PDO Mapping no


Object: 0x1400 RPDO 1 communication parameter
Object Code Record
Description This object contains the communication parameters for the PDOs the CANopen device is able to
receive.

Sub 0x00
Name Highest sub index supported
Data Type UNSIGNED8
Access const
Defaultvalue 5
Low Limit 2
High Limit 5
PDO Mapping no

Sub 0x01
Name COB ID used by RPDO
Data Type UNSIGNED32
Access rw
Defaultvalue 0x00000210
Low Limit 0x200
High Limit 0x27f
PDO Mapping no

Sub 0x02
Name Transmission type
Data Type UNSIGNED8
Access rw
Defaultvalue 0x01
Low Limit 0
High Limit 255
PDO Mapping no

Sub 0x03
Name Inhibit time
Data Type UNSIGNED16
Access ro
Defaultvalue 0
Low Limit 0
High Limit 0
PDO Mapping no

Sub 0x05
Name Event timer
Data Type UNSIGNED16
Access rw
Defaultvalue 0
PDO Mapping no


Object: 0x1401 RPDO 2 communication parameter
Object Code Record
Description This object contains the communication parameters for the PDOs the CANopen device is able to
receive.

Sub 0x00
Name Highest sub index supported
Data Type UNSIGNED8
Access const
Defaultvalue 5
Low Limit 2
High Limit 5
PDO Mapping no

Sub 0x01
Name COB ID used by RPDO
Data Type UNSIGNED32
Access rw
Defaultvalue 0x80000310
PDO Mapping no

Sub 0x02
Name Transmission type
Data Type UNSIGNED8
Access rw
Defaultvalue 0x01
Low Limit 0
High Limit 255
PDO Mapping no

Sub 0x03
Name Inhibit time
Data Type UNSIGNED16
Access ro
Defaultvalue 0
Low Limit 0
High Limit 0
PDO Mapping no

Sub 0x05
Name Event timer
Data Type UNSIGNED16
Access rw
Defaultvalue 0
PDO Mapping no


Object: 0x1402 RPDO 3 communication parameter
Object Code Record
Description This object contains the communication parameters for the PDOs the CANopen device is able to
receive.

Sub 0x00
Name Highest sub index supported
Data Type UNSIGNED8
Access const
Defaultvalue 5
Low Limit 2
High Limit 5
PDO Mapping no

Sub 0x01
Name COB ID used by RPDO
Data Type UNSIGNED32
Access rw
Defaultvalue 0x80000410
PDO Mapping no

Sub 0x02
Name Transmission type
Data Type UNSIGNED8
Access rw
Defaultvalue 0x01
Low Limit 0
High Limit 255
PDO Mapping no

Sub 0x03
Name Inhibit time
Data Type UNSIGNED16
Access ro
Defaultvalue 0
Low Limit 0
High Limit 0
PDO Mapping no

Sub 0x05
Name Event timer
Data Type UNSIGNED16
Access rw
Defaultvalue 0
PDO Mapping no


Object: 0x1403 RPDO 4 communication parameter
Object Code Record
Description This object contains the communication parameters for the PDOs the CANopen device is able to
receive.

Sub 0x00
Name Highest sub index supported
Data Type UNSIGNED8
Access const
Defaultvalue 5
Low Limit 2
High Limit 5
PDO Mapping no

Sub 0x01
Name COB ID used by RPDO
Data Type UNSIGNED32
Access rw
Defaultvalue 0x00000510
PDO Mapping no

Sub 0x02
Name Transmission type
Data Type UNSIGNED8
Access rw
Defaultvalue 0x01
Low Limit 0
High Limit 255
PDO Mapping no

Sub 0x03
Name Inhibit time
Data Type UNSIGNED16
Access ro
Defaultvalue 0
Low Limit 0
High Limit 0
PDO Mapping no

Sub 0x05
Name Event timer
Data Type UNSIGNED16
Access rw
Defaultvalue 0
PDO Mapping no


Object: 0x1404 RPDO 5 communication parameter
Object Code Record
Description This object contains the communication parameters for the PDOs the CANopen device is able to
receive.

Sub 0x00
Name Highest sub index supported
Data Type UNSIGNED8
Access const
Defaultvalue 5
Low Limit 2
High Limit 5
PDO Mapping no

Sub 0x01
Name COB ID used by RPDO
Data Type UNSIGNED32
Access rw
Defaultvalue 0x80000000
PDO Mapping no

Sub 0x02
Name Transmission type
Data Type UNSIGNED8
Access rw
Defaultvalue 0x01
Low Limit 0
High Limit 255
PDO Mapping no

Sub 0x03
Name Inhibit time
Data Type UNSIGNED16
Access ro
Defaultvalue 0
Low Limit 0
High Limit 0
PDO Mapping no

Sub 0x05
Name Event timer
Data Type UNSIGNED16
Access rw
Defaultvalue 0
PDO Mapping no


Object: 0x1405 RPDO 6 communication parameter
Object Code Record
Description This object contains the communication parameters for the PDOs the CANopen device is able to
receive.

Sub 0x00
Name Highest sub index supported
Data Type UNSIGNED8
Access const
Defaultvalue 5
Low Limit 2
High Limit 5
PDO Mapping no

Sub 0x01
Name COB ID used by RPDO
Data Type UNSIGNED32
Access rw
Defaultvalue 0x80000000
PDO Mapping no

Sub 0x02
Name Transmission type
Data Type UNSIGNED8
Access rw
Defaultvalue 0x01
Low Limit 0
High Limit 255
PDO Mapping no

Sub 0x03
Name Inhibit time
Data Type UNSIGNED16
Access ro
Defaultvalue 0
Low Limit 0
High Limit 0
PDO Mapping no

Sub 0x05
Name Event timer
Data Type UNSIGNED16
Access rw
Defaultvalue 0
PDO Mapping no


Object: 0x1406 RPDO 7 communication parameter
Object Code Record
Description This object contains the communication parameters for the PDOs the CANopen device is able to
receive.

Sub 0x00
Name Highest sub index supported
Data Type UNSIGNED8
Access const
Defaultvalue 5
Low Limit 2
High Limit 5
PDO Mapping no

Sub 0x01
Name COB ID used by RPDO
Data Type UNSIGNED32
Access rw
Defaultvalue 0x80000000
PDO Mapping no

Sub 0x02
Name Transmission type
Data Type UNSIGNED8
Access rw
Defaultvalue 0x01
Low Limit 0
High Limit 255
PDO Mapping no

Sub 0x03
Name Inhibit time
Data Type UNSIGNED16
Access ro
Defaultvalue 0
Low Limit 0
High Limit 0
PDO Mapping no

Sub 0x05
Name Event timer
Data Type UNSIGNED16
Access rw
Defaultvalue 0
PDO Mapping no


Object: 0x1407 RPDO 8 communication parameter
Object Code Record
Description This object contains the communication parameters for the PDOs the CANopen device is able to
receive.

Sub 0x00
Name Highest sub index supported
Data Type UNSIGNED8
Access const
Defaultvalue 5
Low Limit 2
High Limit 5
PDO Mapping no

Sub 0x01
Name COB ID used by RPDO
Data Type UNSIGNED32
Access rw
Defaultvalue 0x80000000
PDO Mapping no

Sub 0x02
Name Transmission type
Data Type UNSIGNED8
Access rw
Defaultvalue 0x01
Low Limit 0
High Limit 255
PDO Mapping no

Sub 0x03
Name Inhibit time
Data Type UNSIGNED16
Access ro
Defaultvalue 0
Low Limit 0
High Limit 0
PDO Mapping no

Sub 0x05
Name Event timer
Data Type UNSIGNED16
Access rw
Defaultvalue 0
PDO Mapping no


Object: 0x1600 RPDO 1 mapping parameter
Object Code Record
Description This object contains the mapping parameters for the PDOs the CANopen device is able to receive.

Sub 0x00
Name Number of mapped application objects in PDO
Data Type UNSIGNED8
Access rw
Defaultvalue 1
Low Limit 0
High Limit 255
PDO Mapping no

Sub 0x01
Name Mapping Entry 1
Data Type UNSIGNED32
Access rw
Defaultvalue 0x60400010
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x02
Name Mapping Entry 2
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x03
Name Mapping Entry 3
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x04
Name Mapping Entry 4
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x05
Name Mapping Entry 5
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x06
Name Mapping Entry 6
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x07
Name Mapping Entry 7
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x08
Name Mapping Entry 8
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no


Object: 0x1601 RPDO 2 mapping parameter
Object Code Record
Description This object contains the mapping parameters for the PDOs the CANopen device is able to receive.

Sub 0x00
Name Number of mapped application objects in PDO
Data Type UNSIGNED8
Access rw
Defaultvalue 1
Low Limit 0
High Limit 255
PDO Mapping no

Sub 0x01
Name Mapping Entry 1
Data Type UNSIGNED32
Access rw
Defaultvalue 0x50008
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x02
Name Mapping Entry 2
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x03
Name Mapping Entry 3
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x04
Name Mapping Entry 4
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x05
Name Mapping Entry 5
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x06
Name Mapping Entry 6
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x07
Name Mapping Entry 7
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x08
Name Mapping Entry 8
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no


Object: 0x1602 RPDO 3 mapping parameter
Object Code Record
Description This object contains the mapping parameters for the PDOs the CANopen device is able to receive.

Sub 0x00
Name Number of mapped application objects in PDO
Data Type UNSIGNED8
Access rw
Defaultvalue 1
Low Limit 0
High Limit 255
PDO Mapping no

Sub 0x01
Name Mapping Entry 1
Data Type UNSIGNED32
Access rw
Defaultvalue 0x50008
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x02
Name Mapping Entry 2
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x03
Name Mapping Entry 3
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x04
Name Mapping Entry 4
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x05
Name Mapping Entry 5
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x06
Name Mapping Entry 6
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x07
Name Mapping Entry 7
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x08
Name Mapping Entry 8
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no


Object: 0x1603 RPDO 4 mapping parameter
Object Code Record
Description This object contains the mapping parameters for the PDOs the CANopen device is able to receive.

Sub 0x00
Name Number of mapped application objects in PDO
Data Type UNSIGNED8
Access rw
Defaultvalue 2
Low Limit 0
High Limit 255
PDO Mapping no

Sub 0x01
Name Mapping Entry 1
Data Type UNSIGNED32
Access rw
Defaultvalue 0x60400010
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x02
Name Mapping Entry 2
Data Type UNSIGNED32
Access rw
Defaultvalue 0x60420010
PDO Mapping no

Sub 0x03
Name Mapping Entry 3
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x04
Name Mapping Entry 4
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x05
Name Mapping Entry 5
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x06
Name Mapping Entry 6
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x07
Name Mapping Entry 7
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x08
Name Mapping Entry 8
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no


Object: 0x1604 RPDO 5 mapping parameter
Object Code Record
Description This object contains the mapping parameters for the PDOs the CANopen device is able to receive.

Sub 0x00
Name Number of mapped application objects in PDO
Data Type UNSIGNED8
Access rw
Defaultvalue 1
Low Limit 0
High Limit 255
PDO Mapping no

Sub 0x01
Name Mapping Entry 1
Data Type UNSIGNED32
Access rw
Defaultvalue 0x50008
PDO Mapping no

Sub 0x02
Name Mapping Entry 2
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x03
Name Mapping Entry 3
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x04
Name Mapping Entry 4
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x05
Name Mapping Entry 5
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x06
Name Mapping Entry 6
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x07
Name Mapping Entry 7
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x08
Name Mapping Entry 8
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no


Object: 0x1605 RPDO 6 mapping parameter
Object Code Record
Description This object contains the mapping parameters for the PDOs the CANopen device is able to receive.

Sub 0x00
Name Number of mapped application objects in PDO
Data Type UNSIGNED8
Access rw
Defaultvalue 1
Low Limit 0
High Limit 255
PDO Mapping no

Sub 0x01
Name Mapping Entry 1
Data Type UNSIGNED32
Access rw
Defaultvalue 0x50008
PDO Mapping no

Sub 0x02
Name Mapping Entry 2
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x03
Name Mapping Entry 3
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x04
Name Mapping Entry 4
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x05
Name Mapping Entry 5
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x06
Name Mapping Entry 6
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x07
Name Mapping Entry 7
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x08
Name Mapping Entry 8
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no


Object: 0x1606 RPDO 7 mapping parameter
Object Code Record
Description This object contains the mapping parameters for the PDOs the CANopen device is able to receive.

Sub 0x00
Name Number of mapped application objects in PDO
Data Type UNSIGNED8
Access rw
Defaultvalue 1
Low Limit 0
High Limit 255
PDO Mapping no

Sub 0x01
Name Mapping Entry 1
Data Type UNSIGNED32
Access rw
Defaultvalue 0x50008
PDO Mapping no

Sub 0x02
Name Mapping Entry 2
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x03
Name Mapping Entry 3
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x04
Name Mapping Entry 4
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x05
Name Mapping Entry 5
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x06
Name Mapping Entry 6
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x07
Name Mapping Entry 7
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x08
Name Mapping Entry 8
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no


Object: 0x1607 RPDO 8 mapping parameter
Object Code Record
Description This object contains the mapping parameters for the PDOs the CANopen device is able to receive.

Sub 0x00
Name Number of mapped application objects in PDO
Data Type UNSIGNED8
Access rw
Defaultvalue 1
Low Limit 0
High Limit 255
PDO Mapping no

Sub 0x01
Name Mapping Entry 1
Data Type UNSIGNED32
Access rw
Defaultvalue 0x50008
PDO Mapping no

Sub 0x02
Name Mapping Entry 2
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x03
Name Mapping Entry 3
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x04
Name Mapping Entry 4
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x05
Name Mapping Entry 5
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x06
Name Mapping Entry 6
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x07
Name Mapping Entry 7
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x08
Name Mapping Entry 8
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no


Object: 0x1800 TPDO 1 communication parameter
Object Code Record
Description This object contains the communication parameters for the PDOs the CANopen device is able to
transmit.

Sub 0x00
Name Highest sub index supported
Data Type UNSIGNED8
Access const
Defaultvalue 2
Low Limit 2
High Limit 5
PDO Mapping no

Sub 0x01
Name COB ID used by TPDO
Data Type UNSIGNED32
Access rw
Defaultvalue 0x40000190
PDO Mapping no

Sub 0x02
Name Transmission type
Data Type UNSIGNED8
Access rw
Defaultvalue 1
Low Limit 0
High Limit 255
PDO Mapping no


Object: 0x1801 TPDO 2 communication parameter
Object Code Record
Description This object contains the communication parameters for the PDOs the CANopen device is able to
transmit.

Sub 0x00
Name Highest sub index supported
Data Type UNSIGNED8
Access const
Defaultvalue 2
Low Limit 2
High Limit 5
PDO Mapping no

Sub 0x01
Name COB ID used by TPDO
Data Type UNSIGNED32
Access rw
Defaultvalue 0xC0000290
PDO Mapping no

Sub 0x02
Name Transmission type
Data Type UNSIGNED8
Access rw
Defaultvalue 1
Low Limit 0
High Limit 255
PDO Mapping no


Object: 0x1802 TPDO 3 Communication Parameter
Object Code Record
Description This object contains the communication parameters for the PDOs the CANopen device is able to
transmit.

Sub 0x00
Name Highest sub index supported
Data Type UNSIGNED8
Access const
Defaultvalue 2
Low Limit 2
High Limit 5
PDO Mapping no

Sub 0x01
Name COB ID used by TPDO
Data Type UNSIGNED32
Access rw
Defaultvalue 0x40000390
PDO Mapping no

Sub 0x02
Name Transmission Type
Data Type UNSIGNED8
Access rw
Defaultvalue 1
Low Limit 0
High Limit 255
PDO Mapping no


Object: 0x1803 TPDO 4 Communication Parameter
Object Code Record
Description This object contains the communication parameters for the PDOs the CANopen device is able to
transmit.

Sub 0x00
Name Highest sub index supported
Data Type UNSIGNED8
Access const
Defaultvalue 2
Low Limit 2
High Limit 5
PDO Mapping no

Sub 0x01
Name COB ID used by TPDO
Data Type UNSIGNED32
Access rw
Defaultvalue 0x40000490
PDO Mapping no

Sub 0x02
Name Transmission Type
Data Type UNSIGNED8
Access rw
Defaultvalue 1
Low Limit 0
High Limit 255
PDO Mapping no


Object: 0x1804 TPDO 5 Communication Parameter
Object Code Record
Description This object contains the communication parameters for the PDOs the CANopen device is able to
transmit.

Sub 0x00
Name Highest sub index supported
Data Type UNSIGNED8
Access const
Defaultvalue 2
Low Limit 2
High Limit 5
PDO Mapping no

Sub 0x01
Name COB ID used by TPDO
Data Type UNSIGNED32
Access rw
Defaultvalue 0xC0000000
PDO Mapping no

Sub 0x02
Name Transmission Type
Data Type UNSIGNED8
Access rw
Defaultvalue 1
Low Limit 0
High Limit 255
PDO Mapping no


Object: 0x1805 TPDO 6 Communication Parameter
Object Code Record
Description This object contains the communication parameters for the PDOs the CANopen device is able to
transmit.

Sub 0x00
Name Highest sub index supported
Data Type UNSIGNED8
Access const
Defaultvalue 2
Low Limit 2
High Limit 5
PDO Mapping no

Sub 0x01
Name COB ID used by TPDO
Data Type UNSIGNED32
Access rw
Defaultvalue 0xC0000000
PDO Mapping no

Sub 0x02
Name Transmission Type
Data Type UNSIGNED8
Access rw
Defaultvalue 1
Low Limit 0
High Limit 255
PDO Mapping no


Object: 0x1806 TPDO 7 Communication Parameter
Object Code Record
Description This object contains the communication parameters for the PDOs the CANopen device is able to
transmit.

Sub 0x00
Name Highest sub index supported
Data Type UNSIGNED8
Access const
Defaultvalue 2
Low Limit 2
High Limit 5
PDO Mapping no

Sub 0x01
Name COB ID used by TPDO
Data Type UNSIGNED32
Access rw
Defaultvalue 0xC0000000
PDO Mapping no

Sub 0x02
Name Transmission Type
Data Type UNSIGNED8
Access rw
Defaultvalue 1
Low Limit 0
High Limit 255
PDO Mapping no


Object: 0x1807 TPDO 8 Communication Parameter
Object Code Record
Description This object contains the communication parameters for the PDOs the CANopen device is able to
transmit.

Sub 0x00
Name Highest sub index supported
Data Type UNSIGNED8
Access const
Defaultvalue 2
Low Limit 2
High Limit 5
PDO Mapping no

Sub 0x01
Name COB ID used by TPDO
Data Type UNSIGNED32
Access rw
Defaultvalue 0xC0000000
PDO Mapping no

Sub 0x02
Name Transmission Type
Data Type UNSIGNED8
Access rw
Defaultvalue 1
Low Limit 0
High Limit 255
PDO Mapping no


Object: 0x1a00 TPDO 1 mapping parameter
Object Code Record
Description This object contains the mapping for the PDOs the device is able to transmit.

Sub 0x00
Name Number of mapped application objects in TPDO
Data Type UNSIGNED8
Access rw
Defaultvalue 1
Low Limit 0
High Limit 8
PDO Mapping no

Sub 0x01
Name Mapping Entry 1
Data Type UNSIGNED32
Access rw
Defaultvalue 0x60410010
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x02
Name Mapping Entry 2
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x03
Name Mapping Entry 3
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x04
Name Mapping Entry 4
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x05
Name Mapping Entry 5
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x06
Name Mapping Entry 6
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x07
Name Mapping Entry 7
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x08
Name Mapping Entry 8
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no


Object: 0x1a01 TPDO 2 mapping parameter
Object Code Record
Description This object contains the mapping for the PDOs the device is able to transmit.

Sub 0x00
Name Number of mapped application objects in TPDO
Data Type UNSIGNED8
Access rw
Defaultvalue 1
Low Limit 0
High Limit 8
PDO Mapping no

Sub 0x01
Name Mapping Entry 1
Data Type UNSIGNED32
Access rw
Defaultvalue 0x60410010
PDO Mapping no

Sub 0x02
Name Mapping Entry 2
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x03
Name Mapping Entry 3
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x04
Name Mapping Entry 4
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x05
Name Mapping Entry 5
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x06
Name Mapping Entry 6
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x07
Name Mapping Entry 7
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x08
Name Mapping Entry 8
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no


Object: 0x1a02 TPDO 3 mapping parameter
Object Code Record
Description This object contains the mapping for the PDOs the device is able to transmit.

Sub 0x00
Name Number of mapped application objects in TPDO
Data Type UNSIGNED8
Access rw
Defaultvalue 2
Low Limit 0
High Limit 8
PDO Mapping no

Sub 0x01
Name Mapping Entry 1
Data Type UNSIGNED32
Access rw
Defaultvalue 0x60410010
PDO Mapping no

Sub 0x02
Name Mapping Entry 2
Data Type UNSIGNED32
Access rw
Defaultvalue 0x60640020
PDO Mapping no

Sub 0x03
Name Mapping Entry 3
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x04
Name Mapping Entry 4
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x05
Name Mapping Entry 5
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x06
Name Mapping Entry 6
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x07
Name Mapping Entry 7
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x08
Name Mapping Entry 8
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no


Object: 0x1a03 TPDO 4 mapping parameter
Object Code Record
Description This object contains the mapping for the PDOs the device is able to transmit.

Sub 0x00
Name Number of mapped application objects in TPDO
Data Type UNSIGNED8
Access rw
Defaultvalue 2
Low Limit 0
High Limit 8
PDO Mapping no

Sub 0x01
Name Mapping Entry 1
Data Type UNSIGNED32
Access rw
Defaultvalue 0x60410010
PDO Mapping no

Sub 0x02
Name Mapping Entry 2
Data Type UNSIGNED32
Access rw
Defaultvalue 0x606c0020
PDO Mapping no

Sub 0x03
Name Mapping Entry 3
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x04
Name Mapping Entry 4
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x05
Name Mapping Entry 5
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x06
Name Mapping Entry 6
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x07
Name Mapping Entry 7
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x08
Name Mapping Entry 8
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no


Object: 0x1a04 TPDO 5 mapping parameter
Object Code Record
Description This object contains the mapping for the PDOs the device is able to transmit.

Sub 0x00
Name Number of mapped application objects in TPDO
Data Type UNSIGNED8
Access rw
Defaultvalue 1
Low Limit 0
High Limit 8
PDO Mapping no

Sub 0x01
Name Mapping Entry 1
Data Type UNSIGNED32
Access rw
Defaultvalue 0x60410010
PDO Mapping no

Sub 0x02
Name Mapping Entry 2
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x03
Name Mapping Entry 3
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x04
Name Mapping Entry 4
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x05
Name Mapping Entry 5
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x06
Name Mapping Entry 6
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x07
Name Mapping Entry 7
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x08
Name Mapping Entry 8
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no


Object: 0x1a05 TPDO 6 mapping parameter
Object Code Record
Description This object contains the mapping for the PDOs the device is able to transmit.

Sub 0x00
Name Number of mapped application objects in TPDO
Data Type UNSIGNED8
Access rw
Defaultvalue 1
Low Limit 0
High Limit 8
PDO Mapping no

Sub 0x01
Name Mapping Entry 1
Data Type UNSIGNED32
Access rw
Defaultvalue 0x60410010
PDO Mapping no

Sub 0x02
Name Mapping Entry 2
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x03
Name Mapping Entry 3
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x04
Name Mapping Entry 4
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x05
Name Mapping Entry 5
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x06
Name Mapping Entry 6
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x07
Name Mapping Entry 7
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x08
Name Mapping Entry 8
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no


Object: 0x1a06 TPDO 7 mapping parameter
Object Code Record
Description This object contains the mapping for the PDOs the device is able to transmit.

Sub 0x00
Name Number of mapped application objects in TPDO
Data Type UNSIGNED8
Access rw
Defaultvalue 1
Low Limit 0
High Limit 8
PDO Mapping no

Sub 0x01
Name Mapping Entry 1
Data Type UNSIGNED32
Access rw
Defaultvalue 0x60410010
PDO Mapping no

Sub 0x02
Name Mapping Entry 2
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x03
Name Mapping Entry 3
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x04
Name Mapping Entry 4
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x05
Name Mapping Entry 5
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x06
Name Mapping Entry 6
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x07
Name Mapping Entry 7
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x08
Name Mapping Entry 8
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no


Object: 0x1a07 TPDO 8 mapping parameter
Object Code Record
Description This object contains the mapping for the PDOs the device is able to transmit.

Sub 0x00
Name Number of mapped application objects in TPDO
Data Type UNSIGNED8
Access rw
Defaultvalue 1
Low Limit 0
High Limit 8
PDO Mapping no

Sub 0x01
Name Mapping Entry 1
Data Type UNSIGNED32
Access rw
Defaultvalue 0x60410010
PDO Mapping no

Sub 0x02
Name Mapping Entry 2
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x03
Name Mapping Entry 3
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x04
Name Mapping Entry 4
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x05
Name Mapping Entry 5
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x06
Name Mapping Entry 6
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x07
Name Mapping Entry 7
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no

Sub 0x08
Name Mapping Entry 8
Data Type UNSIGNED32
Access rw
Defaultvalue 0x0000
PDO Mapping no


Object: 0x2064 accurate_position_value
Object Code Variable
Description Accurate position encoder from analog hall sensor.

Sub 0x00
Name accurate_position_value
Data Type INTEGER32
Access ro
Defaultvalue
PDO Mapping optional


Object: 0x208f accurate_position_resolution
Object Code Variable
Description Resolution of the accurate position value.
Unit: increment per round.

Sub 0x00
Name accurate_position_resolution
Data Type UNSIGNED8
Access const
Defaultvalue 120
PDO Mapping optional


Object: 0x2100 Configure Bit Timing Parameters
Object Code Variable
Description Configure CAN connection Baudrate :
0 : Baud rate of 1 MBit/sec
1 : Baud rate of 800 kBit/sec
2 : Baud rate of 500 kBit/sec
3 : Baud rate of 250 kBit/sec
4 : Baud rate of 125 kBit/sec
5 : Baud rate of 100 kBit/sec
6 : Baud rate of 50 kBit/sec
7 : Baud rate of 20 kBit/sec
8 : Baud rate of 10 kBit/sec

Sub 0x00
Name Configure Bit Timing Parameters
Data Type UNSIGNED8
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4
PDO Mapping no


Object: 0x2101 Node ID
Object Code Variable
Description Configure CAN Node ID

Sub 0x00
Name Node ID
Data Type UNSIGNED8
Access rw
Defaultvalue 0x10
Low Limit 1
High Limit 127
PDO Mapping no


Object: 0x2102 R Termination
Object Code Variable
Description Configure CAN termination resistor

Sub 0x00
Name R Termination
Data Type BOOLEAN
Access rw
Defaultvalue 1
Low Limit 0
High Limit 1
PDO Mapping no


Object: 0x2155 motctrl_speed_pid_p
Object Code Variable
Description Configure motor control PID, proportional gain

Sub 0x00
Name motctrl_speed_pid_p
Data Type UNSIGNED32
Access rw
Low Limit 0
High Limit 4294967295
PDO Mapping no


Object: 0x2156 motctrl_speed_pid_i
Object Code Variable
Description Configure motor control PID, integral gain

Sub 0x00
Name motctrl_speed_pid_i
Data Type UNSIGNED32
Access rw
Low Limit 0
High Limit 4294967295
PDO Mapping no


Object: 0x2157 motctrl_speed_pid_d
Object Code Variable
Description Configure motor control PID, derivative gain

Sub 0x00
Name motctrl_speed_pid_d
Data Type UNSIGNED32
Access rw
Low Limit 0
High Limit 4294967295
PDO Mapping no


Object: 0x2158 motctrl_speed_pid_tw
Object Code Variable
Description Configure motor control PID, integral anti-windup time constant.
Common value: sqrt(kd / ki).
Implementation is: Tw = motctrl_speed_pid_tw / 1000.
Example: to set Tw to 0.316, write 316 in motctrl_speed_pid_tw.

Sub 0x00
Name motctrl_speed_pid_tw
Data Type UNSIGNED32
Access rw
PDO Mapping no


Object: 0x2159 motctrl_speed_pid_tn
Object Code Variable
Description Configure motor control PID, derivative filter time constant.
Implementation is: Tn = motctrl_speed_pid_tn / 1000.
Example: to set Tn to 0.6, write 600 in motctrl_speed_pid_tn.

Sub 0x00
Name motctrl_speed_pid_tn
Data Type UNSIGNED32
Access rw
PDO Mapping no


Object: 0x2201 Hardware version
Object Code Variable
Description 0 = Hardware version init
1 = A
2 = B
3 = C
4 = D
5 = E
6 = F
7 = G
8 = H
9 = I
10 = J

Sub 0x00
Name Hardware version
Data Type UNSIGNED32
Access ro
Defaultvalue
Low Limit 0
High Limit 4294967295
PDO Mapping no


Object: 0x2202 Software version
Object Code Variable
Description 1st octet : not used
2nd octet : version major
3rd octet : version minor
4th octet : version patch

Sub 0x00
Name Software version
Data Type UNSIGNED32
Access ro
Defaultvalue
Low Limit 0
High Limit 4294967295
PDO Mapping no


Object: 0x2204 Product ID
Object Code Variable
Description This object indicates the product ID of the SWD.
When 0, no product ID was found in the product, else:

ezSWDcore.0/C 1
ezSWDcore.4/C 2
ezSWDcore.14/C 3
ezSWDcore.25/C 4
ezSWDcore.50/C 5
ezSWDcore.100/C 6

ezSWD125IM.4/C 7
ezSWD125IM.4/C_PRO 8
ezSWD125IM.14/C 9
ezSWD125IM.25/C 10

ezSWDcore.0B/C 11
ezSWDcore.4B/C 12
ezSWDcore.14B/C 13
ezSWDcore.25B/C 14
ezSWDcore.50B/C 15
ezSWDcore.100B/C 16

ezSWD125IM.4B/C 17
ezSWD125IM.14B/C 18
ezSWD125IM.25B/C 19

ezSWD150IH.14/C-0 20
ezSWD150IH.25/C-0 21
ezSWD150IH.14/C-1 22
ezSWD150IH.25/C-1 23

ezSWD150IH.14B/C-0 24
ezSWD150IH.25B/C-0 25
ezSWD150IH.14B/C-1 26
ezSWD150IH.25B/C-1 27

ezSWD200IH.14/C-0 28
ezSWD200IH.25/C-0 29
ezSWD200IH.14/C-1 30
ezSWD200IH.25/C-1 31

ezSWD200IH.14B/C-0 32
ezSWD200IH.25B/C-0 33
ezSWD200IH.14B/C-1 34
ezSWD200IH.25B/C-1 35

E_202777_SMC_GM 36
E_202727_SMC_GN2 37

Sub 0x00
Name Product ID
Data Type UNSIGNED32
Access ro
Low Limit 0
High Limit 0xffffffff
PDO Mapping no


Object: 0x2205 Software Reference
Object Code Variable
Description FW_UNKNOWN = 0U
FW_SWD_RECOVERY =1U
FW_SWD_CORE = 2U
FW_SWD_150 = 3U
Maintenance = 255U

Sub 0x00
Name Software Reference
Data Type UNSIGNED8
Access ro
Defaultvalue
Low Limit 0
High Limit 255
PDO Mapping no


Object: 0x2400 control_ext
Object Code Record
Description Configure the output power supply, on CAN connector and/or on IO connector.

Sub 0x00
Name Highest sub-index supported
Data Type UNSIGNED8
Access ro
Defaultvalue 2
Low Limit 0
High Limit 255
PDO Mapping no

Sub 0x01
Name control_ext_can_alim
Data Type UNSIGNED8
Access rw
Defaultvalue 0
Low Limit 0
High Limit 255
PDO Mapping no

Sub 0x02
Name control_ext_canio_alim
Data Type UNSIGNED8
Access rw
Defaultvalue 1
Low Limit 0
High Limit 255
PDO Mapping no


Object: 0x2401 status_ext
Object Code Record
Description Get status of the output power supply, on CAN connector and/or on IO connector.

Sub 0x00
Name Highest sub-index supported
Data Type UNSIGNED8
Access ro
Defaultvalue 2
Low Limit 0
High Limit 255
PDO Mapping no

Sub 0x01
Name status_ext_can_alim
Data Type UNSIGNED8
Access rw
Defaultvalue
Low Limit 0
High Limit 255
PDO Mapping no

Sub 0x02
Name status_ext_canio_alim
Data Type UNSIGNED8
Access rw
Defaultvalue
Low Limit 0
High Limit 255
PDO Mapping no


Object: 0x2620 Safety controlwords manufacturer
Object Code Record
Description Manufacturer safety control words

Sub 0x00
Name Highest sub index supported
Data Type UNSIGNED8
Access ro
Defaultvalue 3
Low Limit 0
High Limit 255
Description Manufacturer safety control words
PDO Mapping no

Sub 0x01
Name safety_controlword_system
Data Type UNSIGNED8
Access ro
Defaultvalue
Low Limit 0
High Limit 255
PDO Mapping optional, TPDO only

Sub 0x02
Name safety_controlword_safein_1
Data Type UNSIGNED8
Access ro
Defaultvalue
Low Limit 0
High Limit 255
PDO Mapping optional, TPDO only

Sub 0x03
Name safety_controlword_safemotion
Data Type UNSIGNED8
Access ro
Defaultvalue
Low Limit 0
High Limit 255
PDO Mapping optional, TPDO only


Object: 0x2621 Safety statuswords manufacturer
Object Code Record
Description Manufacturer safety status words

Sub 0x00
Name Highest sub index supported
Data Type UNSIGNED8
Access ro
Defaultvalue 1
Low Limit 0
High Limit 255
PDO Mapping no

Sub 0x01
Name safety_statusword_safeout
Data Type UNSIGNED8
Access ro
Defaultvalue
Low Limit 0
High Limit 255
PDO Mapping no


Object: 0x2622 Inverted Safety controlwords manufacturer
Object Code Record
Description Manufacturer inverted safety control words

Sub 0x00
Name Highest sub index supported
Data Type UNSIGNED8
Access ro
Defaultvalue 3
Low Limit 0
High Limit 255
PDO Mapping no

Sub 0x01
Name inverted_safety_controlword_system
Data Type UNSIGNED8
Access rw
Defaultvalue
Low Limit 0
High Limit 255
PDO Mapping optional, TPDO only

Sub 0x02
Name inverted_safety_controlword_safein_1
Data Type UNSIGNED8
Access rw
Defaultvalue
Low Limit 0
High Limit 255
PDO Mapping optional, TPDO only

Sub 0x03
Name inverted_safety_controlword_safemotion
Data Type UNSIGNED8
Access rw
Defaultvalue
Low Limit 0
High Limit 255
PDO Mapping optional, TPDO only


Object: 0x2623 Inverted Safety statuswords manufacturer
Object Code Record
Description Manufacturerinverted safety status words

Sub 0x00
Name Highest sub index supported
Data Type UNSIGNED8
Access ro
Defaultvalue 1
Low Limit 0
High Limit 255
PDO Mapping no

Sub 0x01
Name inverted_safety_statusword_safeout
Data Type UNSIGNED8
Access rw
Defaultvalue
Low Limit 0
High Limit 255
PDO Mapping no


Object: 0x2624 ezw_safety_word_scw_mapping_permanent_cw1
Object Code Array
Description This object allows to map safety functions to a virtual controlword which is always enabled.
Any safety function mapped to scw_cw_permanent_can_1_bit0 ... scw_cw_permanent_can_1_bit7 will be permanently activated.

Sub 0x00
Name ezw_safety_word_scw_mapping_permanent_cw1
Data Type UNSIGNED8
Access ro
Defaultvalue 8
Low Limit 0
High Limit 8
PDO Mapping no

Sub 0x01
Name scw_cw_permanent_can_1_bit0
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x02
Name scw_cw_permanent_can_1_bit1
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x03
Name scw_cw_permanent_can_1_bit2
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x04
Name scw_cw_permanent_can_1_bit3
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x05
Name scw_cw_permanent_can_1_bit4
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x06
Name scw_cw_permanent_can_1_bit5
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x07
Name scw_cw_permanent_can_1_bit6
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x08
Name scw_cw_permanent_can_1_bit7
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no


Object: 0x2625 ezw_safety_word_scw_mapping_permanent_cw2
Object Code Array
Description This object allows to map safety functions to a virtual controlword which is always enabled.
Any safety function mapped to scw_cw_permanent_can_2_bit0 ... scw_cw_permanent_can_2_bit7 will be permanently activated.

Sub 0x00
Name ezw_safety_word_scw_mapping_permanent_cw2
Data Type UNSIGNED8
Access ro
Defaultvalue 8
Low Limit 0
High Limit 8
PDO Mapping no

Sub 0x01
Name scw_cw_permanent_can_2_bit0
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x02
Name scw_cw_permanent_can_2_bit1
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x03
Name scw_cw_permanent_can_2_bit2
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x04
Name scw_cw_permanent_can_2_bit3
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x05
Name scw_cw_permanent_can_2_bit4
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x06
Name scw_cw_permanent_can_2_bit5
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x07
Name scw_cw_permanent_can_2_bit6
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x08
Name scw_cw_permanent_can_2_bit7
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no


Object: 0x2630 Safety Function Output
Object Code Record
Description Consolidated status of safety function command.
If a safety command is active somewhere, the output will be active

The mapping is fixed:
Bit 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15

safety_function_output_1:
STO, SBC_1, SBC_2, SBC_3, SLS_1, SLS_2, SLS_3, SLS_4, SLS_5, SLS_6, SLS_7, SLS_8, SDI_P_1, SDI_P_2, SDI_N_1, SDI_N_2

safety_function_output_2:
ERROR_ACK, RESTART_ACK, SBU, SMS, SLSa_1, SLSa_2, SLSa_3, SLSa_4, SLSa_5, SLSa_6, SLSa_7, SLSa_8

Sub 0x00
Name Highest sub-index supported
Data Type UNSIGNED8
Access ro
Defaultvalue 2
PDO Mapping no

Sub 0x01
Name safety_function_output_1
Data Type UNSIGNED16
Access ro
Defaultvalue
PDO Mapping optional, TPDO only

Sub 0x02
Name safety_function_output_2
Data Type UNSIGNED16
Access ro
Defaultvalue
PDO Mapping optional, TPDO only


Object: 0x2660 Brake present
Object Code Variable
Description This object shall be used to configure if an external brake is used on the product.
A value of TRUE indicates that an external brake is intended to be connected on the brake connector of the product,
while a value of FALSE indicates that no external brake shall be connected.
Upon transitionning to OPERATION_ENABLED, the product will check the external brake presence according to this object.
This parameter limits the available SBC modes to:
- when TRUE: SBC_0, SBC_1, SBC_2
- when FALSE: SBC_0, SBC_3

Sub 0x00
Name Brake present
Data Type BOOLEAN
Access rw
Low Limit 0
High Limit 1
PDO Mapping no


Object: 0x26f1 ezw_safety_word_scw_mapping_safein
Object Code Array
Description Manufacturer safety control word mapping for Safe Inputs

Sub 0x00
Name ezw_safety_word_scw_mapping_safein
Data Type UNSIGNED8
Access ro
Defaultvalue 6
Low Limit 0
High Limit 255
PDO Mapping no

Sub 0x01
Name scw_cw_safein_bit0
Data Type UNSIGNED32
Access ro
Defaultvalue 0x66400000
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x02
Name scw_cw_safein_bit1
Data Type UNSIGNED32
Access ro
Defaultvalue 0x66400000
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x03
Name scw_cw_safein_bit2
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x04
Name scw_cw_safein_bit3
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x05
Name scw_cw_safein_bit4
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x06
Name scw_cw_safein_bit5
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no


Object: 0x26f8 ezw_safety_word_ssw_mapping_safeout
Object Code Array
Description Manufacturer safety status word mapping for Safe Outputs

Sub 0x00
Name ezw_safety_word_ssw_mapping_safeout
Data Type UNSIGNED8
Access ro
Defaultvalue 4
Low Limit 0
High Limit 255
PDO Mapping no

Sub 0x01
Name scw_sw_safeout_bit0
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x02
Name scw_sw_safeout_bit1
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x03
Name scw_sw_safeout_bit2
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x04
Name scw_sw_safeout_bit3
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no


Object: 0x3040 SBU command
Object Code Variable
Description This object shall provide the SBU command, received by a controlword.
A value of TRUE indicates that the command is inactive, while a value of FALSE indicates that the command is active.

Sub 0x00
Name SBU command
Data Type BOOLEAN
Access ro
Defaultvalue
PDO Mapping no


Object: 0x3041 SBU status
Object Code Variable
Description This object shall provide the SBU status.
A value of FALSE indicates that the SBU is inactive, while a value of TRUE indicates that the SBU is active.

Sub 0x00
Name SBU status
Data Type UNSIGNED8
Access ro
Defaultvalue
PDO Mapping optional, TPDO only


Object: 0x3050 SLSa commands
Object Code Array
Description This parameter shall provide the SLSa commands, which may be received within a
controlword(s) by means of an SRDO. A value of TRUE shall deactivate the dedicated SLSa
function, and a value of FALSE shall activate the dedicated SLSa function. The sub-indices
shall correspond to the sub-indices of the following parameters: 3051h,3052h, 3053h, 3054h,
3055h, 3056h, 3057h, 3058h and 3059h.

Sub 0x00
Name SLSa commands
Data Type UNSIGNED8
Access ro
Defaultvalue 8
PDO Mapping no

Sub 0x01
Name SLSa command 1
Data Type BOOLEAN
Access ro
Defaultvalue
Low Limit 0
High Limit 1
PDO Mapping no

Sub 0x02
Name SLSa command 2
Data Type BOOLEAN
Access ro
Defaultvalue
Low Limit 0
High Limit 1
PDO Mapping no

Sub 0x03
Name SLSa command 3
Data Type BOOLEAN
Access ro
Defaultvalue
Low Limit 0
High Limit 1
PDO Mapping no

Sub 0x04
Name SLSa command 4
Data Type BOOLEAN
Access ro
Defaultvalue
Low Limit 0
High Limit 1
PDO Mapping no

Sub 0x05
Name SLSa command 5
Data Type BOOLEAN
Access ro
Defaultvalue
Low Limit 0
High Limit 1
PDO Mapping no

Sub 0x06
Name SLSa command 6
Data Type BOOLEAN
Access ro
Defaultvalue
Low Limit 0
High Limit 1
PDO Mapping no

Sub 0x07
Name SLSa command 7
Data Type BOOLEAN
Access ro
Defaultvalue
Low Limit 0
High Limit 1
PDO Mapping no

Sub 0x08
Name SLSa command 8
Data Type BOOLEAN
Access ro
Defaultvalue
Low Limit 0
High Limit 1
PDO Mapping no


Object: 0x3051 SLSa time to positive velocity monitoring
Object Code Array
Description This parameter shall indicate the configured delay of activating the SLSa function for the positive velocity.

Sub 0x00
Name SLSa time to positive velocity monitoring
Data Type UNSIGNED8
Access ro
Defaultvalue 8
PDO Mapping no

Sub 0x01
Name SLSa time to positive velocity monitoring 1
Data Type UNSIGNED16
Access rw
Defaultvalue 0
Low Limit 0
High Limit 65535
PDO Mapping no

Sub 0x02
Name SLSa time to positive velocity monitoring 2
Data Type UNSIGNED16
Access rw
Defaultvalue 0
Low Limit 0
High Limit 65535
PDO Mapping no

Sub 0x03
Name SLSa time to positive velocity monitoring 3
Data Type UNSIGNED16
Access rw
Defaultvalue 0
Low Limit 0
High Limit 65535
PDO Mapping no

Sub 0x04
Name SLSa time to positive velocity monitoring 4
Data Type UNSIGNED16
Access rw
Defaultvalue 0
Low Limit 0
High Limit 65535
PDO Mapping no

Sub 0x05
Name SLSa time to positive velocity monitoring 5
Data Type UNSIGNED16
Access rw
Defaultvalue 0
Low Limit 0
High Limit 65535
PDO Mapping no

Sub 0x06
Name SLSa time to positive velocity monitoring 6
Data Type UNSIGNED16
Access rw
Defaultvalue 0
Low Limit 0
High Limit 65535
PDO Mapping no

Sub 0x07
Name SLSa time to positive velocity monitoring 7
Data Type UNSIGNED16
Access rw
Defaultvalue 0
Low Limit 0
High Limit 65535
PDO Mapping no

Sub 0x08
Name SLSa time to positive velocity monitoring 8
Data Type UNSIGNED16
Access rw
Defaultvalue 0
Low Limit 0
High Limit 65535
PDO Mapping no


Object: 0x3052 SLSa positive velocity limit u32
Object Code Array
Description This parameter shall indicate the configured positive speed limit.

Sub 0x00
Name SLSa positive velocity limit u32
Data Type UNSIGNED8
Access ro
Defaultvalue 8
PDO Mapping no

Sub 0x01
Name SLSa positive velocity limit u32 1
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x02
Name SLSa positive velocity limit u32 2
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x03
Name SLSa positive velocity limit u32 3
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x04
Name SLSa positive velocity limit u32 4
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x05
Name SLSa positive velocity limit u32 5
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x06
Name SLSa positive velocity limit u32 6
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x07
Name SLSa positive velocity limit u32 7
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x08
Name SLSa positive velocity limit u32 8
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no


Object: 0x3053 SLSa time for positive velocity in limits
Object Code Array
Description This parameter shall indicate the configured time for the positive velocity within the configured limits.

Sub 0x00
Name SLSa time for positive velocity in limits
Data Type UNSIGNED8
Access ro
Defaultvalue 8
PDO Mapping no

Sub 0x01
Name SLSa time for positive velocity in limits 1
Data Type UNSIGNED16
Access rw
Defaultvalue 0
Low Limit 0
High Limit 65535
PDO Mapping no

Sub 0x02
Name SLSa time for positive velocity in limits 2
Data Type UNSIGNED16
Access rw
Defaultvalue 0
Low Limit 0
High Limit 65535
PDO Mapping no

Sub 0x03
Name SLSa time for positive velocity in limits 3
Data Type UNSIGNED16
Access rw
Defaultvalue 0
Low Limit 0
High Limit 65535
PDO Mapping no

Sub 0x04
Name SLSa time for positive velocity in limits 4
Data Type UNSIGNED16
Access rw
Defaultvalue 0
Low Limit 0
High Limit 65535
PDO Mapping no

Sub 0x05
Name SLSa time for positive velocity in limits 5
Data Type UNSIGNED16
Access rw
Defaultvalue 0
Low Limit 0
High Limit 65535
PDO Mapping no

Sub 0x06
Name SLSa time for positive velocity in limits 6
Data Type UNSIGNED16
Access rw
Defaultvalue 0
Low Limit 0
High Limit 65535
PDO Mapping no

Sub 0x07
Name SLSa time for positive velocity in limits 7
Data Type UNSIGNED16
Access rw
Defaultvalue 0
Low Limit 0
High Limit 65535
PDO Mapping no

Sub 0x08
Name SLSa time for positive velocity in limits 8
Data Type UNSIGNED16
Access rw
Defaultvalue 0
Low Limit 0
High Limit 65535
PDO Mapping no


Object: 0x3054 SLSa time to negative velocity monitoring
Object Code Array
Description This parameter shall indicate the configured delay of activating the SLSa function for the negative velocity.

Sub 0x00
Name SLSa time to negative velocity monitoring
Data Type UNSIGNED8
Access ro
Defaultvalue 8
PDO Mapping no

Sub 0x01
Name SLSa time to negative velocity monitoring 1
Data Type UNSIGNED16
Access rw
Defaultvalue 0
Low Limit 0
High Limit 65535
PDO Mapping no

Sub 0x02
Name SLSa time to negative velocity monitoring 2
Data Type UNSIGNED16
Access rw
Defaultvalue 0
Low Limit 0
High Limit 65535
PDO Mapping no

Sub 0x03
Name SLSa time to negative velocity monitoring 3
Data Type UNSIGNED16
Access rw
Defaultvalue 0
Low Limit 0
High Limit 65535
PDO Mapping no

Sub 0x04
Name SLSa time to negative velocity monitoring 4
Data Type UNSIGNED16
Access rw
Defaultvalue 0
Low Limit 0
High Limit 65535
PDO Mapping no

Sub 0x05
Name SLSa time to negative velocity monitoring 5
Data Type UNSIGNED16
Access rw
Defaultvalue 0
Low Limit 0
High Limit 65535
PDO Mapping no

Sub 0x06
Name SLSa time to negative velocity monitoring 6
Data Type UNSIGNED16
Access rw
Defaultvalue 0
Low Limit 0
High Limit 65535
PDO Mapping no

Sub 0x07
Name SLSa time to negative velocity monitoring 7
Data Type UNSIGNED16
Access rw
Defaultvalue 0
Low Limit 0
High Limit 65535
PDO Mapping no

Sub 0x08
Name SLSa time to negative velocity monitoring 8
Data Type UNSIGNED16
Access rw
Defaultvalue 0
Low Limit 0
High Limit 65535
PDO Mapping no


Object: 0x3055 SLSa negative velocity limit u32
Object Code Array
Description This parameter shall indicate the configured negative speed limit.

Sub 0x00
Name SLSa negative velocity limit u32
Data Type UNSIGNED8
Access ro
Defaultvalue 8
PDO Mapping no

Sub 0x01
Name SLSa negative velocity limit u32 1
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x02
Name SLSa negative velocity limit u32 2
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x03
Name SLSa negative velocity limit u32 3
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x04
Name SLSa negative velocity limit u32 4
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x05
Name SLSa negative velocity limit u32 5
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x06
Name SLSa negative velocity limit u32 6
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x07
Name SLSa negative velocity limit u32 7
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x08
Name SLSa negative velocity limit u32 8
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no


Object: 0x3056 SLSa time for negative velocity in limits
Object Code Array
Description This parameter shall indicate the configured time for the negative velocity within the configured limits.

Sub 0x00
Name SLSa time for negative velocity in limits
Data Type UNSIGNED8
Access ro
Defaultvalue 8
PDO Mapping no

Sub 0x01
Name SLSa time for negative velocity in limits 1
Data Type UNSIGNED16
Access rw
Defaultvalue 0
Low Limit 0
High Limit 65535
PDO Mapping no

Sub 0x02
Name SLSa time for negative velocity in limits 2
Data Type UNSIGNED16
Access rw
Defaultvalue 0
Low Limit 0
High Limit 65535
PDO Mapping no

Sub 0x03
Name SLSa time for negative velocity in limits 3
Data Type UNSIGNED16
Access rw
Defaultvalue 0
Low Limit 0
High Limit 65535
PDO Mapping no

Sub 0x04
Name SLSa time for negative velocity in limits 4
Data Type UNSIGNED16
Access rw
Defaultvalue 0
Low Limit 0
High Limit 65535
PDO Mapping no

Sub 0x05
Name SLSa time for negative velocity in limits 5
Data Type UNSIGNED16
Access rw
Defaultvalue 0
Low Limit 0
High Limit 65535
PDO Mapping no

Sub 0x06
Name SLSa time for negative velocity in limits 6
Data Type UNSIGNED16
Access rw
Defaultvalue 0
Low Limit 0
High Limit 65535
PDO Mapping no

Sub 0x07
Name SLSa time for negative velocity in limits 7
Data Type UNSIGNED16
Access rw
Defaultvalue 0
Low Limit 0
High Limit 65535
PDO Mapping no

Sub 0x08
Name SLSa time for negative velocity in limits 8
Data Type UNSIGNED16
Access rw
Defaultvalue 0
Low Limit 0
High Limit 65535
PDO Mapping no


Object: 0x3057 SLSa error reactions
Object Code Array
Description This parameter shall indicate the configured SLSa error reactions, when the configured velocity
or deceleration limits are exceeded. The value shall indicate, which command shall be
preformed locally by means of a pointer (index and sub-index) to the command parameter. A
value of 0000 0000h shall indicate that no reaction is required.

Sub 0x00
Name SLSa error reactions
Data Type UNSIGNED8
Access ro
Defaultvalue 8
PDO Mapping no

Sub 0x01
Name SLSa error reaction 1
Data Type UNSIGNED32
Access rw
Defaultvalue 0x66400000
PDO Mapping no

Sub 0x02
Name SLSa error reaction 2
Data Type UNSIGNED32
Access rw
Defaultvalue 0x66400000
PDO Mapping no

Sub 0x03
Name SLSa error reaction 3
Data Type UNSIGNED32
Access rw
Defaultvalue 0x66400000
PDO Mapping no

Sub 0x04
Name SLSa error reaction 4
Data Type UNSIGNED32
Access rw
Defaultvalue 0x66400000
PDO Mapping no

Sub 0x05
Name SLSa error reaction 5
Data Type UNSIGNED32
Access rw
Defaultvalue 0x66400000
PDO Mapping no

Sub 0x06
Name SLSa error reaction 6
Data Type UNSIGNED32
Access rw
Defaultvalue 0x66400000
PDO Mapping no

Sub 0x07
Name SLSa error reaction 7
Data Type UNSIGNED32
Access rw
Defaultvalue 0x66400000
PDO Mapping no

Sub 0x08
Name SLSa error reaction 8
Data Type UNSIGNED32
Access rw
Defaultvalue 0x66400000
PDO Mapping no


Object: 0x3058 SLSa safety application configuration signature
Object Code Array
Description This object shall provide the configuration checksum for SLSa safety application parameters.
The sub-indices 01h to 254h relate to the corresponding instances and are calculated in the
same manner.

Sub 0x00
Name SLSa safety application configuration signature
Data Type UNSIGNED8
Access ro
Defaultvalue 8
PDO Mapping no

Sub 0x01
Name SLSa safety application configuration signature 1
Data Type UNSIGNED16
Access rw
Defaultvalue 0xF94
PDO Mapping no

Sub 0x02
Name SLSa safety application configuration signature 2
Data Type UNSIGNED16
Access rw
Defaultvalue 0xF94
PDO Mapping no

Sub 0x03
Name SLSa safety application configuration signature 3
Data Type UNSIGNED16
Access rw
Defaultvalue 0xF94
PDO Mapping no

Sub 0x04
Name SLSa safety application configuration signature 4
Data Type UNSIGNED16
Access rw
Defaultvalue 0xF94
PDO Mapping no

Sub 0x05
Name SLSa safety application configuration signature 5
Data Type UNSIGNED16
Access rw
Defaultvalue 0xF94
PDO Mapping no

Sub 0x06
Name SLSa safety application configuration signature 6
Data Type UNSIGNED16
Access rw
Defaultvalue 0xF94
PDO Mapping no

Sub 0x07
Name SLSa safety application configuration signature 7
Data Type UNSIGNED16
Access rw
Defaultvalue 0xF94
PDO Mapping no

Sub 0x08
Name SLSa safety application configuration signature 8
Data Type UNSIGNED16
Access rw
Defaultvalue 0xF94
PDO Mapping no


Object: 0x3059 SLSa statuses
Object Code Array
Description This parameter shall provide the current SLSa statuses, which may be mapped into a
statusword(s) provided via SRDO. A value of TRUE shall indicate that the dedicated SLSa
function is active, and a value of FALSE shall indicate that the dedicated SLSa function is not
active. The sub-indices shall correspond to the sub-indices of the following parameters: 3050h,
3051h, 3052h, 3053h, 3054h, 3055h, 3056h, 3057h and 3058h.

Sub 0x00
Name SLSa statuses
Data Type UNSIGNED8
Access ro
Defaultvalue 8
PDO Mapping no

Sub 0x01
Name SLSa status 1
Data Type BOOLEAN
Access ro
Defaultvalue
Low Limit 0
High Limit 1
PDO Mapping no

Sub 0x02
Name SLSa status 2
Data Type BOOLEAN
Access ro
Defaultvalue
Low Limit 0
High Limit 1
PDO Mapping no

Sub 0x03
Name SLSa status 3
Data Type BOOLEAN
Access ro
Defaultvalue
Low Limit 0
High Limit 1
PDO Mapping no

Sub 0x04
Name SLSa status 4
Data Type BOOLEAN
Access ro
Defaultvalue
Low Limit 0
High Limit 1
PDO Mapping no

Sub 0x05
Name SLSa status 5
Data Type BOOLEAN
Access ro
Defaultvalue
Low Limit 0
High Limit 1
PDO Mapping no

Sub 0x06
Name SLSa status 6
Data Type BOOLEAN
Access ro
Defaultvalue
Low Limit 0
High Limit 1
PDO Mapping no

Sub 0x07
Name SLSa status 7
Data Type BOOLEAN
Access ro
Defaultvalue
Low Limit 0
High Limit 1
PDO Mapping no

Sub 0x08
Name SLSa status 8
Data Type BOOLEAN
Access ro
Defaultvalue
Low Limit 0
High Limit 1
PDO Mapping no


Object: 0x6007 abort_connection_option_code
Object Code Variable
Description This object shall indicate what action shall be performed when one of the following events
occurres: bus-off, heartbeat, life guarding, NMT stopped state entered, reset application, and
reset communication.

Sub 0x00
Name abort_connection_option_code
Data Type INTEGER16
Access ro
Defaultvalue 2
Low Limit -32768
High Limit 32767
PDO Mapping no


Object: 0x603f error_code
Object Code Variable
Description This object shall provide the error code of the last error which occurred in the drive device.

Sub 0x00
Name error_code
Data Type UNSIGNED16
Access ro
Defaultvalue
Low Limit 0
High Limit 65535
PDO Mapping optional, TPDO only


Object: 0x6040 controlword
Object Code Variable
Description This object shall indicate the received command controlling the PDS FSA.
The bits 7, 3, 2, 1, and 0 shall be supported.
The bits 0 to 9 shall be supported according to the mode of operation.
If the related functionality is not available, an appropriate emergency message shall be generated.
The manufacturer-specific (ms) bits may be supported.
All implemented bits of the controlword are valid independent of the PDS FSA state.
Starting of any movement is operation mode specific and is described in the related clause.

Sub 0x00
Name controlword
Data Type UNSIGNED16
Access rw
Defaultvalue
Low Limit 0
High Limit 65535
PDO Mapping optional, RPDO only


Object: 0x6041 statusword
Object Code Variable
Description This object shall provide the status of the PDS FSA.
The bits 10, 9, and 6 to 0 shall be supported.
The oms bits shall be supported if the mode of operation is supported.
If the related functionality of the oms bits is not available, the corresponding bit shall be 0b.
The manufacturer-specific (ms) bits may be supported.
All implemented bits of the status word are valid independent of the PDS FSA state.

Sub 0x00
Name statusword
Data Type UNSIGNED16
Access ro
Defaultvalue
Low Limit 0
High Limit 65535
PDO Mapping optional, TPDO only


Object: 0x6042 vl_target_velocity
Object Code Variable
Description This object shall indicate the required velocity of the system. It shall be multiplied by the vl
dimension factor and the vl set-point factor, if these are implemented. The value shall be
given in user-defined velocity units or in revolutions per minute (r/min), if the vl dimension
factor and the vl set-point factor are not implemented or have the value 1. Positive values
shall indicate forward direction and negative values shall indicate reverse direction.

Sub 0x00
Name vl_target_velocity
Data Type INTEGER16
Access rw
Defaultvalue 0
Low Limit -32768
High Limit 32767
PDO Mapping optional


Object: 0x6043 vl_velocity_demand
Object Code Variable
Description This object shall provide the instantaneous velocity generated by the ramp function. It is an
internal object of the drive device. The value shall be given in the very same unit as the vl
target velocity. Positive values shall indicate forward direction and negative values shall
indicate reverse direction.

Sub 0x00
Name vl_velocity_demand
Data Type INTEGER16
Access ro
Defaultvalue
Low Limit -32768
High Limit 32767
PDO Mapping optional


Object: 0x6044 vl_velocity_actual_value
Object Code Variable
Description This object shall provide the velocity at the motor spindle or load. Depending on the
implementation (simple drive device, without sensor, with sensor, etc.), the drive shall provide
the appropriate image of the actual velocity derived for example from velocity demand or a
sensor signal.
The value shall be given in the very same unit as the vl target velocity. Positive values shall
indicate forward direction and negative values shall indicate reverse direction.

Sub 0x00
Name vl_velocity_actual_value
Data Type INTEGER16
Access ro
Defaultvalue
Low Limit -32768
High Limit 32767
PDO Mapping optional


Object: 0x6046 vl_velocity_min_max_amount
Object Code Array
Description This object shall indicate the configured minimum and maximum amount of velocity. The vl
velocity max amount sub-object shall be mapped internally to the vl velocity max pos and vl
velocity max neg values. The vl velocity min amount sub-object shall be mapped internally to
the vl velocity min pos and vl velocity min neg values.

Sub 0x00
Name vl_velocity_min_max_amount_highest_subindex
Data Type UNSIGNED8
Access const
Defaultvalue 2
Low Limit 0
High Limit 2
PDO Mapping no

Sub 0x01
Name vl_velocity_min_max_amount_vl_velocity_min_amount
Data Type UNSIGNED32
Access rw
Defaultvalue
Low Limit 0
High Limit 4294967295
PDO Mapping optional, RPDO only

Sub 0x02
Name vl_velocity_min_max_amount_vl_velocity_max_amount
Data Type UNSIGNED32
Access rw
Defaultvalue
Low Limit 0
High Limit 4294967295
PDO Mapping optional, RPDO only


Object: 0x6048 vl_velocity_acceleration
Object Code Record
Description This object shall indicate the configured delta speed and delta time of the slope of the
acceleration ramp.
The value of delta speed shall be given in rotations per minute (r/min) or in user-defined
velocity units if the vl dimension factor object is implemented and is not set to 1. The value of
delta time shall be given in s.

Sub 0x00
Name vl_velocity_acceleration_highest_subindex
Data Type UNSIGNED8
Access const
Defaultvalue 2
Low Limit 0
High Limit 2
PDO Mapping no

Sub 0x01
Name vl_velocity_acceleration_delta_speed
Data Type UNSIGNED32
Access rw
Defaultvalue
Low Limit 0
High Limit 4294967295
PDO Mapping optional, RPDO only

Sub 0x02
Name vl_velocity_acceleration_delta_time
Data Type UNSIGNED16
Access rw
Defaultvalue
Low Limit 0
High Limit 65535
PDO Mapping optional, RPDO only


Object: 0x6049 vl_velocity_deceleration
Object Code Record
Description This object shall indicate the configured delta speed and delta time of the slope of the
deceleration ramp.
The value of delta speed shall be given in rotations per minute (r/min) or in user-defined
velocity units if the vl dimension factor object is implemented and is not set to 1. The value of
delta time shall be given in s. If this object is not implemented, the value in object 6048h
shall be used for vl velocity deceleration.

Sub 0x00
Name vl_velocity_deceleration_highest_subindex
Data Type UNSIGNED8
Access const
Defaultvalue 2
Low Limit 0
High Limit 2
PDO Mapping no

Sub 0x01
Name vl_velocity_deceleration_delta_speed
Data Type UNSIGNED32
Access rw
Defaultvalue
Low Limit 0
High Limit 4294967295
PDO Mapping optional, RPDO only

Sub 0x02
Name vl_velocity_deceleration_delta_time
Data Type UNSIGNED16
Access rw
Defaultvalue
Low Limit 0
High Limit 65535
PDO Mapping optional, RPDO only


Object: 0x604a vl_velocity_quick_stop
Object Code Record
Description This object shall indicate the configured delta speed and delta time of the slope of the
deceleration ramp for quick stop.
The value of delta speed shall be given in rotations per minute (r/min) or in user-defined
velocity units if the vl dimension factor object is implemented and is not set to 1. The value of
delta time shall be given in s.


Sub 0x00
Name vl_velocity_quick_stop_highest_subindex
Data Type UNSIGNED8
Access const
Defaultvalue 2
Low Limit 0
High Limit 2
PDO Mapping no

Sub 0x01
Name vl_velocity_quick_stop_delta_speed
Data Type UNSIGNED32
Access rw
Defaultvalue
Low Limit 0
High Limit 4294967295
PDO Mapping optional, RPDO only

Sub 0x02
Name vl_velocity_quick_stop_delta_time
Data Type UNSIGNED16
Access rw
Defaultvalue
Low Limit 0
High Limit 65535
PDO Mapping optional, RPDO only


Object: 0x604b vl_set_point_factor
Object Code Array
Description This object shall indicate the configured numerator and denominator of the vl set-point factor.
The vl set-point factor serves to modify the resolution or directing range of the specified setpoint.
It is aso included in calculation of the vl velocity demand, and vl velocity actual value. It
does not influence the velocity limit function and the ramp function. The value shall be
dimensionless and shall be given in the range from -32 768 to +32 767, but the value of 0
shall not be used.


Sub 0x00
Name vl_set_point_factor_highest_subindex
Data Type UNSIGNED8
Access const
Defaultvalue 2
Low Limit 0
High Limit 2
PDO Mapping no

Sub 0x01
Name vl_set_point_factor_numerator
Data Type INTEGER16
Access rw
Defaultvalue
Low Limit -32768
High Limit 32767
PDO Mapping optional, RPDO only

Sub 0x02
Name vl_set_point_factor_denominator
Data Type INTEGER16
Access rw
Defaultvalue
Low Limit -32768
High Limit 32767
PDO Mapping optional, RPDO only


Object: 0x604c vl_dimension_factor
Object Code Array
Description This object shall indicate the configured numerator and denominator of the vl dimension
factor. The vl dimension factor serves to include gearing in calculation or serves to scale the
frequencies or specific units of the user. It influences the vl target velocity, vl velocity
demand, vl velocity actual value as well as the velocity limit function and the ramp function.
Calculating the vl dimension factor: Every user-specific velocity consists of specific units
referred to specific units of time (e.g. 1/s, bottles/min, m/s, etc.). The purpose of the vl
dimension factor is to convert the specific velocity units to the revolutions/minute.
Velocity [user-defined units] * vl dimension factor [r/min/user-defined units] = Velocity [r/min]
The values shall be in the range of -2 147 483 648 to +2 147 483 647, but the value of 0 shall
be not used.


Sub 0x00
Name vl_dimension_factor_highest_subindex
Data Type UNSIGNED8
Access const
Defaultvalue 2
Low Limit 0
High Limit 2
PDO Mapping no

Sub 0x01
Name vl_dimension_factor_numerator
Data Type INTEGER32
Access ro
Defaultvalue 1
Low Limit -2147483648
High Limit 2147483647
PDO Mapping optional, RPDO only

Sub 0x02
Name vl_dimension_factor_denominator
Data Type INTEGER32
Access ro
Defaultvalue 1
Low Limit -2147483648
High Limit 2147483647
PDO Mapping optional, RPDO only


Object: 0x605a quick_stop_option_code
Object Code Variable
Description This object shall indicate what action is performed when the quick stop function is executed.
The slow down ramp is the deceleration value of the used mode of operations.

Sub 0x00
Name quick_stop_option_code
Data Type INTEGER16
Access ro
Defaultvalue 6
Low Limit -32768
High Limit 32767
PDO Mapping no


Object: 0x605b shutdown_option_code
Object Code Variable
Description This object shall indicate what action is performed if there is a transition from operation
enabled state to ready to switch on state. The slow down ramp is the deceleration value of the
used mode of operations.

Sub 0x00
Name shutdown_option_code
Data Type INTEGER16
Access ro
Defaultvalue 0
Low Limit -32768
High Limit 32767
PDO Mapping no


Object: 0x605c disable_operation_option_code
Object Code Variable
Description This object shall indicate what action is performed if there is a transition from operation
enabled state to switched on state. The slow down ramp is the deceleration value of the used
mode of operations.

Sub 0x00
Name disable_operation_option_code
Data Type INTEGER16
Access ro
Defaultvalue 0
Low Limit -32768
High Limit 32767
PDO Mapping no


Object: 0x605d halt_option_code
Object Code Variable
Description This object shall indicate what action is performed when the halt function is executed. The
slow down ramp is the deceleration value of the used mode of operations.

Sub 0x00
Name halt_option_code
Data Type INTEGER16
Access rw
Defaultvalue 1
Low Limit -32768
High Limit 32767
PDO Mapping no


Object: 0x605e fault_reaction_option_code
Object Code Variable
Description This object shall indicate what action is performed when fault is detected in the PDS. The
slow down ramp is the deceleration value of the used mode of operations.

Sub 0x00
Name fault_reaction_option_code
Data Type INTEGER16
Access ro
Defaultvalue 0
Low Limit -32768
High Limit 32767
PDO Mapping no


Object: 0x6060 modes_of_operation
Object Code Variable
Description This object shall indicate the requested operation mode.

Sub 0x00
Name modes_of_operation
Data Type INTEGER8
Access rw
Defaultvalue 2
Low Limit -128
High Limit 127
PDO Mapping optional, RPDO only


Object: 0x6061 modes_of_operation_display
Object Code Variable
Description This object shall provide the actual operation mode.

Sub 0x00
Name modes_of_operation_display
Data Type INTEGER8
Access ro
Defaultvalue 2
Low Limit -128
High Limit 127
PDO Mapping optional, TPDO only


Object: 0x6064 position_value
Object Code Variable
Description This object shall provide the actual value of the position measurement device. The value shall
be given in user-defined position units.

Sub 0x00
Name position_value
Data Type INTEGER32
Access ro
Defaultvalue
Low Limit -2147483648
High Limit 2147483647
PDO Mapping optional, TPDO only


Object: 0x606c velocity_actual_value
Object Code Variable
Description This object shall provide the actual velocity value derived either from the velocity sensor or
the position sensor. The value shall be given in user-defined velocity units.

Sub 0x00
Name velocity_actual_value
Data Type INTEGER32
Access rw
Defaultvalue
Low Limit -2147483648
High Limit 2147483647
PDO Mapping optional, TPDO only


Object: 0x607e polarity
Object Code Variable
Description This object shall indicate if the position demand value shall be multiplied by 1 of by –1. The
polarity flag shall have no influence on the homing mode. The position polarity bit shall be
used only for profile position (pp) mode and cyclic sync position mode (csp). The velocity
polarity bit shall be used only for profile velocity (pv) mode and cyclic sync velocity mode
(csv).

Sub 0x00
Name polarity
Data Type UNSIGNED8
Access rw
Defaultvalue
Low Limit 0
High Limit 255
PDO Mapping optional, RPDO only


Object: 0x608f position_encoder_resolution
Object Code Array
Description This object shall indicate the configured encoder increments and the number of motor
revolutions. The position encoder resolution shall be calculated by the following formula:
position encoder resolution = encoder increments / motor revolutions
All values shall be dimensionless.

Sub 0x00
Name position_encoder_resolution_highest_subindex
Data Type UNSIGNED8
Access const
Defaultvalue 2
Low Limit 0
High Limit 2
PDO Mapping no

Sub 0x01
Name position_encoder_resolution_encoder_increments
Data Type UNSIGNED32
Access rw
Defaultvalue
Low Limit 0
High Limit 4294967295
PDO Mapping optional, RPDO only

Sub 0x02
Name position_encoder_resolution_motor_revolutions
Data Type UNSIGNED32
Access rw
Defaultvalue
Low Limit 0
High Limit 4294967295
PDO Mapping optional, RPDO only


Object: 0x6090 velocity_encoder_resolution
Object Code Array
Description This object shall indicate the configured encoder increments per second and the motor
revolutions per second. The velocity encoder resolution shall be calculated by the following
formula:
velocity encoder resolution = (encoder increments/s) / (motor revolutions/s)
All values shall be dimensionless.

Sub 0x00
Name velocity_encoder_resolution_highest_subindex
Data Type UNSIGNED8
Access const
Defaultvalue 2
Low Limit 0
High Limit 2
PDO Mapping no

Sub 0x01
Name velocity_encoder_resolution_encoder_increments_per_second
Data Type UNSIGNED32
Access rw
Defaultvalue
Low Limit 0
High Limit 4294967295
PDO Mapping optional, RPDO only

Sub 0x02
Name velocity_encoder_resolution_motor_revolutions_per_second
Data Type UNSIGNED32
Access rw
Defaultvalue
Low Limit 0
High Limit 4294967295
PDO Mapping optional, RPDO only


Object: 0x6091 gear_ratio
Object Code Array
Description This object shall indicate the configured number of motor shaft revolutions and the number of
driving shaft revolutions. The gear ratio shall be calculated by the following formula:
gear ratio = motor shaft revolutions / driving shaft revolutions
All values shall be dimensionless.

Sub 0x00
Name gear_ratio_highest_subindex
Data Type UNSIGNED8
Access const
Defaultvalue 2
Low Limit 0
High Limit 2
PDO Mapping no

Sub 0x01
Name gear_ratio_motor_revolutions
Data Type UNSIGNED32
Access rw
Low Limit 0
High Limit 4294967295
PDO Mapping optional, RPDO only

Sub 0x02
Name gear_ratio_shaft_revolutions
Data Type UNSIGNED32
Access rw
Low Limit 0
High Limit 4294967295
PDO Mapping optional, RPDO only


Object: 0x6092 feed_constant
Object Code Array
Description This object shall indicate the configured feed constant, which is the measurement distance
per one revolution of the driving shaft of the gearbox. The feed constant shall be calculated
by the following formula:
feed constant = feed / driving shaft revolutions
The feed shall be given in user-defined position units, and the driving shaft revolutions value
shall be dimensionless.

Sub 0x00
Name feed_constant_highest_subindex
Data Type UNSIGNED8
Access const
Defaultvalue 2
Low Limit 0
High Limit 2
PDO Mapping no

Sub 0x01
Name feed_constant_feed
Data Type UNSIGNED32
Access rw
Defaultvalue
Low Limit 0
High Limit 4294967295
PDO Mapping optional, RPDO only

Sub 0x02
Name feed_constant_shaft_revolutions
Data Type UNSIGNED32
Access rw
Defaultvalue
Low Limit 0
High Limit 4294967295
PDO Mapping optional, RPDO only


Object: 0x6402 motor_type
Object Code Variable
Description This object shall indicate the type of motor attached to and driven by the drive device.

Sub 0x00
Name motor_type
Data Type UNSIGNED16
Access rw
Defaultvalue
Low Limit 0
High Limit 65535
PDO Mapping no


Object: 0x6403 motor_catalogue_number
Object Code Variable
Description This object shall indicate the motor catalogue number (nameplate number) provided by the
motor manufacturer. If the number is not assigned yet, this object shall indicate this by /0
(empty string).

Sub 0x00
Name motor_catalogue_number
Data Type VISIBLE_STRING
Access const
Defaultvalue TBD
PDO Mapping no


Object: 0x6404 motor_manufacturer
Object Code Variable
Description This object shall indicate the name of the motor manufacturer. If the name is not assigned yet,
this object shall indicate this by /0 (empty string).

Sub 0x00
Name motor_manufacturer
Data Type VISIBLE_STRING
Access const
Defaultvalue ez-wheel
PDO Mapping no


Object: 0x6405 http_motor_catalogue_address
Object Code Variable
Description This object shall indicate the assigned web-address of the motor catalogue. If the address is
not assigned yet, this object shall indicate this by /0 (empty string).

Sub 0x00
Name http_motor_catalogue_address
Data Type VISIBLE_STRING
Access const
Defaultvalue TBD
PDO Mapping no


Object: 0x6406 motor_calibration_date
Object Code Variable
Description This object shall indicate the assigned date of the last motor inspection. If the date is not
assigned yet, this object shall indicate this by a value of 0.

Sub 0x00
Name motor_calibration_date
Data Type TIME_OF_DAY
Access rw
Defaultvalue
Low Limit 0
High Limit 0
PDO Mapping no


Object: 0x6407 motor_service_period
Object Code Variable
Description This object shall indicate the assigned motor service period. If the period is not assigned yet,
this object shall indicate this by 0000 0000h. The value shall be given in multiples of hours.

Sub 0x00
Name motor_service_period
Data Type UNSIGNED32
Access rw
Defaultvalue
Low Limit 0
High Limit 4294967295
PDO Mapping no


Object: 0x6502 supported_drive_modes
Object Code Variable
Description This object shall provide information on the supported drive modes.

Sub 0x00
Name supported_drive_modes
Data Type UNSIGNED32
Access ro
Defaultvalue 2
Low Limit 0
High Limit 4294967295
PDO Mapping optional, TPDO only


Object: 0x6503 drive_catalogue_number
Object Code Variable
Description This object shall indicate the assigned manufacturers drive catalogue number (nameplate
number).

Sub 0x00
Name drive_catalogue_number
Data Type VISIBLE_STRING
Access const
Defaultvalue TBD
PDO Mapping no


Object: 0x6505 http_drive_catalogue_address
Object Code Variable
Description This object shall indicate the assigned web address of the drive manufacturer. If the address
is not assigned yet, this object shall indicate this by /0 (empty string).

Sub 0x00
Name http_drive_catalogue_address
Data Type VISIBLE_STRING
Access const
Defaultvalue TBD
PDO Mapping no


Object: 0x6600 Time unit
Object Code Variable
Description This parameter shall indicate the configured SI unit used for time parameters in this
document.
The values for the fields prefix,
denominator, and numerator shall comply with /CiA303-2/ and /IEC61800-7-201/.


Sub 0x00
Name Time unit
Data Type UNSIGNED32
Access rw
Defaultvalue 0xFD030000
Low Limit 0
High Limit 4294967295
PDO Mapping no


Object: 0x6601 Position unit
Object Code Variable
Description This parameter shall indicate the configured SI unit used for position parameters in this
document.
The values for the fields prefix,
denominator, and numerator shall comply with /CiA303-2/ and /IEC61800-7-201/.


Sub 0x00
Name Position unit
Data Type UNSIGNED32
Access rw
Defaultvalue 0x00B50000
Low Limit 0
High Limit 4294967295
PDO Mapping no


Object: 0x6602 Velocity unit
Object Code Variable
Description This parameter shall indicate the configured SI unit used for velocity parameters in this
document.
The values for the fields prefix,
denominator, and numerator shall comply with /CiA303-2/ and /IEC61800-7-201/.


Sub 0x00
Name Velocity unit
Data Type UNSIGNED32
Access rw
Defaultvalue 0x00B44700
Low Limit 0
High Limit 4294967295
PDO Mapping no


Object: 0x6603 Acceleration unit
Object Code Variable
Description This parameter shall indicate the configured SI unit used for acceleration and deceleration
parameters in this document.
The values for the fields prefix, denominator, and numerator shall comply with
/CiA303-2/ and /IEC61800-7-201/.


Sub 0x00
Name Acceleration unit
Data Type UNSIGNED32
Access rw
Defaultvalue 0x03A00300
Low Limit 0
High Limit 4294967295
PDO Mapping no


Object: 0x6607 Safety application configuration valid
Object Code Variable
Description This object shall contain an acknowledgement flag for a valid safety application configuration.
This object is automatically set to invalid (value 00h) if the cyclical check of the configured
application parameters of one of the safety functions has failed. The object shall be set to
valid (value A5h), after the safety application configuration is completed and the safety
application configuration signature object for the appropriate safety function is validated.

Sub 0x00
Name Safety application configuration valid
Data Type UNSIGNED8
Access rw
Defaultvalue
Low Limit 0
High Limit 255
PDO Mapping no


Object: 0x6608 Safety application configuration failed
Object Code Array
Description This object shall indicate the information for which safety drive function the cyclical check of
the configured application objects has failed. Figure 2 specifies the object structure. The field
safety application configuration shall provide the number of the corresponding safety
application configuration signature object. The field sub-index shall provide the number of the
failed instance (corresponding sub-index of the safety application configuration signature
object). A value of 0000 0000h shall indicate a reserved entry (no meaning).

Sub 0x00
Name Safety application configuration failed Highest sub-index supported
Data Type UNSIGNED8
Access ro
Defaultvalue 16
Low Limit 0
High Limit 255
PDO Mapping no

Sub 0x01
Name Safety application configuration failed 1
Data Type UNSIGNED32
Access rw
Defaultvalue
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x02
Name Safety application configuration failed 2
Data Type UNSIGNED32
Access rw
Defaultvalue
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x03
Name Safety application configuration failed 3
Data Type UNSIGNED32
Access rw
Defaultvalue
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x04
Name Safety application configuration failed 4
Data Type UNSIGNED32
Access rw
Defaultvalue
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x05
Name Safety application configuration failed 5
Data Type UNSIGNED32
Access rw
Defaultvalue
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x06
Name Safety application configuration failed 6
Data Type UNSIGNED32
Access rw
Defaultvalue
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x07
Name Safety application configuration failed 7
Data Type UNSIGNED32
Access rw
Defaultvalue
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x08
Name Safety application configuration failed 8
Data Type UNSIGNED32
Access rw
Defaultvalue
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x09
Name Safety application configuration failed 9
Data Type UNSIGNED32
Access rw
Defaultvalue
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x0a
Name Safety application configuration failed 10
Data Type UNSIGNED32
Access rw
Defaultvalue
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x0b
Name Safety application configuration failed 11
Data Type UNSIGNED32
Access rw
Defaultvalue
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x0c
Name Safety application configuration failed 12
Data Type UNSIGNED32
Access rw
Defaultvalue
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x0d
Name Safety application configuration failed 13
Data Type UNSIGNED32
Access rw
Defaultvalue
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x0e
Name Safety application configuration failed 14
Data Type UNSIGNED32
Access rw
Defaultvalue
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x0f
Name Safety application configuration failed 15
Data Type UNSIGNED32
Access rw
Defaultvalue
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x10
Name Safety application configuration failed 16
Data Type UNSIGNED32
Access rw
Defaultvalue
Low Limit 0
High Limit 4294967295
PDO Mapping no


Object: 0x6611 Safe position actual value i32
Object Code Variable
Description This parameter shall provide the safe position actual value.

Sub 0x00
Name Safe position actual value i32
Data Type INTEGER32
Access ro
Defaultvalue
Low Limit -2147483648
High Limit 2147483647
PDO Mapping optional, TPDO only


Object: 0x6613 Safe velocity actual value i32
Object Code Variable
Description This parameter shall provide the safe velocity actual value.

Sub 0x00
Name Safe velocity actual value i32
Data Type INTEGER32
Access ro
Defaultvalue
Low Limit -2147483648
High Limit 2147483647
PDO Mapping optional, TPDO only


Object: 0x661a Inverted safe position actual value i32
Object Code Variable
Description This parameter shall provide the bit-wise inverted safe position actual value.

Sub 0x00
Name Inverted safe position actual value i32
Data Type INTEGER32
Access ro
Defaultvalue
Low Limit -2147483648
High Limit 2147483647
PDO Mapping optional, TPDO only


Object: 0x661c Inverted safe velocity actual value i32
Object Code Variable
Description This parameter shall provide the bit-wise inverted safe velocity actual value.

Sub 0x00
Name Inverted safe velocity actual value i32
Data Type INTEGER32
Access ro
Defaultvalue
Low Limit -2147483648
High Limit 2147483647
PDO Mapping optional, TPDO only


Object: 0x6620 Safety controlwords
Object Code Array
Description This parameter shall indicate the received safety controlwords. Figure 3 specifies the
parameter structure. The commands (COM1 to COM8) given in the safety controlword shall
request the activation (0b) and deactivation (1b) of dedicated safety functions of the drive. The
relation of the COM fields to safety functions is configurable by means of the controlword
mapping parameters (66F0h to 66F7h).
In the safety controlword 1, the COM1 bit shall contain the STO command (see 6640h). In the
safety controlword 1, the COM8 bit shall contain the error acknowledge command (see 6632h)
by the host controller for errors reported in the safety statusword by the drive.

Sub 0x00
Name Highest sub index supported
Data Type UNSIGNED8
Access ro
Defaultvalue 8
Low Limit 1
High Limit 254
PDO Mapping no

Sub 0x01
Name safety_controlword_can1
Data Type UNSIGNED8
Access rw
Defaultvalue 127
Low Limit 0
High Limit 255
PDO Mapping optional, RPDO only

Sub 0x02
Name safety_controlword_can2
Data Type UNSIGNED8
Access rw
Defaultvalue 127
Low Limit 0
High Limit 255
PDO Mapping optional, RPDO only

Sub 0x03
Name safety_controlword_can3
Data Type UNSIGNED8
Access rw
Defaultvalue 127
Low Limit 0
High Limit 255
PDO Mapping optional, RPDO only

Sub 0x04
Name safety_controlword_can4
Data Type UNSIGNED8
Access rw
Defaultvalue 127
Low Limit 0
High Limit 255
PDO Mapping optional, RPDO only

Sub 0x05
Name safety_controlword_can5
Data Type UNSIGNED8
Access rw
Defaultvalue 127
Low Limit 0
High Limit 255
PDO Mapping optional, RPDO only

Sub 0x06
Name safety_controlword_can6
Data Type UNSIGNED8
Access rw
Defaultvalue 127
Low Limit 0
High Limit 255
PDO Mapping optional, RPDO only

Sub 0x07
Name safety_controlword_can7
Data Type UNSIGNED8
Access rw
Defaultvalue 127
Low Limit 0
High Limit 255
PDO Mapping optional, RPDO only

Sub 0x08
Name safety_controlword_can8
Data Type UNSIGNED8
Access rw
Defaultvalue 127
Low Limit 0
High Limit 255
PDO Mapping optional, RPDO only


Object: 0x6621 Safety statuswords
Object Code Array
Description This parameter shall provide the safety statuswords. Figure 4 specifies the parameter
structure. The states of dedicated safety functions (STA1 to STA8) shall provide information if
it is activated (1b) or if it is not activated (0b). The relation of the STA fields to safety functions
is configurable by means of the statusword mapping parameters (66F8h to 66FFh).
In the safety statusword 1, the STA1 bit shall provide the STO status (see 6644h). In the
safety statusword 1, the STA8 bit shall provide the error acknowledge status (see 6633h).

Sub 0x00
Name Highest sub index supported
Data Type UNSIGNED8
Access ro
Defaultvalue 8
Low Limit 1
High Limit 254
PDO Mapping no

Sub 0x01
Name safety_statusword_can1
Data Type UNSIGNED8
Access rw
Defaultvalue
Low Limit 0
High Limit 255
PDO Mapping optional, TPDO only

Sub 0x02
Name safety_statusword_can2
Data Type UNSIGNED8
Access rw
Defaultvalue
Low Limit 0
High Limit 255
PDO Mapping optional, TPDO only

Sub 0x03
Name safety_statusword_can3
Data Type UNSIGNED8
Access rw
Defaultvalue
Low Limit 0
High Limit 255
PDO Mapping optional, TPDO only

Sub 0x04
Name safety_statusword_can4
Data Type UNSIGNED8
Access rw
Defaultvalue
Low Limit 0
High Limit 255
PDO Mapping optional, TPDO only

Sub 0x05
Name safety_statusword_can5
Data Type UNSIGNED8
Access rw
Defaultvalue
Low Limit 0
High Limit 255
PDO Mapping optional, TPDO only

Sub 0x06
Name safety_statusword_can6
Data Type UNSIGNED8
Access rw
Defaultvalue
Low Limit 0
High Limit 255
PDO Mapping optional, TPDO only

Sub 0x07
Name safety_statusword_can7
Data Type UNSIGNED8
Access rw
Defaultvalue
Low Limit 0
High Limit 255
PDO Mapping optional, TPDO only

Sub 0x08
Name safety_statusword_can8
Data Type UNSIGNED8
Access rw
Defaultvalue
Low Limit 0
High Limit 255
PDO Mapping optional, TPDO only


Object: 0x6622 Inverted safety controlwords
Object Code Array
Description This parameter shall indicate the received inverted safety controlwords. They shall
correspond to the controlwords in 6620h.

Sub 0x00
Name Highest sub index supported
Data Type UNSIGNED8
Access ro
Defaultvalue 8
Low Limit 1
High Limit 254
PDO Mapping no

Sub 0x01
Name inverted_safety_controlword_can1
Data Type UNSIGNED8
Access rw
Defaultvalue 128
Low Limit 0
High Limit 255
PDO Mapping optional, RPDO only

Sub 0x02
Name inverted_safety_controlword_can2
Data Type UNSIGNED8
Access rw
Defaultvalue 128
Low Limit 0
High Limit 255
PDO Mapping optional, RPDO only

Sub 0x03
Name inverted_safety_controlword_can3
Data Type UNSIGNED8
Access rw
Defaultvalue 128
Low Limit 0
High Limit 255
PDO Mapping optional, RPDO only

Sub 0x04
Name inverted_safety_controlword_can4
Data Type UNSIGNED8
Access rw
Defaultvalue 128
Low Limit 0
High Limit 255
PDO Mapping optional, RPDO only

Sub 0x05
Name inverted_safety_controlword_can5
Data Type UNSIGNED8
Access rw
Defaultvalue 128
Low Limit 0
High Limit 255
PDO Mapping optional, RPDO only

Sub 0x06
Name inverted_safety_controlword_can6
Data Type UNSIGNED8
Access rw
Defaultvalue 128
Low Limit 0
High Limit 255
PDO Mapping optional, RPDO only

Sub 0x07
Name inverted_safety_controlword_can7
Data Type UNSIGNED8
Access rw
Defaultvalue 128
Low Limit 0
High Limit 255
PDO Mapping optional, RPDO only

Sub 0x08
Name inverted_safety_controlword_can8
Data Type UNSIGNED8
Access rw
Defaultvalue 128
Low Limit 0
High Limit 255
PDO Mapping optional, RPDO only


Object: 0x6623 Inverted safety statuswords
Object Code Array
Description This parameter shall provide the bit-wise inverted safety statuswords. They shall correspond
to the statuswords in 6621h.

Sub 0x00
Name Highest sub index supported
Data Type UNSIGNED8
Access ro
Defaultvalue 8
Low Limit 1
High Limit 254
PDO Mapping no

Sub 0x01
Name inverted_safety_statusword_can1
Data Type UNSIGNED8
Access rw
Defaultvalue
Low Limit 0
High Limit 255
PDO Mapping optional, TPDO only

Sub 0x02
Name inverted_safety_statusword_can2
Data Type UNSIGNED8
Access rw
Defaultvalue
Low Limit 0
High Limit 255
PDO Mapping optional, TPDO only

Sub 0x03
Name inverted_safety_statusword_can3
Data Type UNSIGNED8
Access rw
Defaultvalue
Low Limit 0
High Limit 255
PDO Mapping optional, TPDO only

Sub 0x04
Name inverted_safety_statusword_can4
Data Type UNSIGNED8
Access rw
Defaultvalue
Low Limit 0
High Limit 255
PDO Mapping optional, TPDO only

Sub 0x05
Name inverted_safety_statusword_can5
Data Type UNSIGNED8
Access rw
Defaultvalue
Low Limit 0
High Limit 255
PDO Mapping optional, TPDO only

Sub 0x06
Name inverted_safety_statusword_can6
Data Type UNSIGNED8
Access rw
Defaultvalue
Low Limit 0
High Limit 255
PDO Mapping optional, TPDO only

Sub 0x07
Name inverted_safety_statusword_can7
Data Type UNSIGNED8
Access rw
Defaultvalue
Low Limit 0
High Limit 255
PDO Mapping optional, TPDO only

Sub 0x08
Name inverted_safety_statusword_can8
Data Type UNSIGNED8
Access rw
Defaultvalue
Low Limit 0
High Limit 255
PDO Mapping optional, TPDO only


Object: 0x6630 Restart acknowledge command
Object Code Variable
Description This parameter shall restart the acknowledgement function, when a TRUE value is written.
For details see /ETG6100-2/.

Sub 0x00
Name Restart acknowledge command
Data Type BOOLEAN
Access wo
Defaultvalue
Low Limit 0
High Limit 1
PDO Mapping no


Object: 0x6631 Restart acknowledge status
Object Code Variable
Description This parameter shall provide the status of the acknowledgement function. The value of TRUE
shall indicate that the restart acknowledge request is pending. The value of FALSE shall
indicate that the restart acknowledge function is activated.

Sub 0x00
Name Restart acknowledge status
Data Type BOOLEAN
Access ro
Defaultvalue
Low Limit 0
High Limit 1
PDO Mapping no


Object: 0x6632 Error acknowledge command
Object Code Variable
Description This parameter shall restart the error acknowledgement function, when a TRUE value is
written. For details see /ETG6100-2/.

Sub 0x00
Name Error acknowledge command
Data Type BOOLEAN
Access wo
Defaultvalue
Low Limit 0
High Limit 1
PDO Mapping no


Object: 0x6633 Error acknowledge status
Object Code Variable
Description This parameter shall provide the status of the error acknowledgement function. The value of
TRUE shall indicate that the error acknowledge request is pending. The value of FALSE shall
indicate that the error acknowledge function is activated.

Sub 0x00
Name Error acknowledge status
Data Type BOOLEAN
Access ro
Defaultvalue
Low Limit 0
High Limit 1
PDO Mapping no


Object: 0x6640 STO command
Object Code Variable
Description This parameter shall provide the STO command received within the controlword 1 (see object
66F0h for controlword 1 mapping) by means of an SRDO. A value of TRUE shall deactivate
the STO function, and a value of FALSE shall activate the STO function.

Sub 0x00
Name STO command
Data Type BOOLEAN
Access ro
Defaultvalue
Low Limit 0
High Limit 1
PDO Mapping no


Object: 0x6641 STO restart acknowledge behavior
Object Code Variable
Description This parameter shall indicate the configured STO restart acknowledge behavior. A value of
TRUE shall indicate that the STO restart is manual, and a value of FALSE shall indicate that
the STO restart is automatically performed.

Sub 0x00
Name STO restart acknowledge behavior
Data Type BOOLEAN
Access rw
Defaultvalue 0
Low Limit 0
High Limit 1
PDO Mapping no


Object: 0x6643 STO activate SBC
Object Code Variable
Description This parameter shall command to close the brakes using the referenced SBC command.
Figure 5 specifies the parameter structure. The value shall indicate, which command shall be
performed by means of a pointer (index and sub-index) to the command parameter e.g. 6688
0100h. A value of 0000 0000h shall indicate that no brake shall be used.

Sub 0x00
Name STO activate SBC
Data Type UNSIGNED32
Access rw
Low Limit 0
High Limit 4294967295
PDO Mapping no


Object: 0x6644 STO status
Object Code Variable
Description This parameter shall provide the current STO status, which is mapped into the statusword 1
(see object 66F8h for statusword 1 mapping), provided via an SRDO. A value of TRUE shall
indicate that the STO function is active, and a value of FALSE shall indicate that the STO
function is not active.

Sub 0x00
Name STO status
Data Type BOOLEAN
Access ro
Defaultvalue
Low Limit 0
High Limit 1
PDO Mapping no


Object: 0x6645 STO safety application configuration signature
Object Code Array
Description This object shall provide the configuration checksum for STO safety application parameters.
The sub-indices 01h to 254h relate to the corresponding instances and are calculated in the
same manner. The CRC value calculation is given in the safety configuration signature object
(see /EN50325-5/).

Sub 0x00
Name STO safety application configuration signature Highest sub-index supported
Data Type UNSIGNED8
Access ro
Defaultvalue 1
Low Limit 1
High Limit 254
PDO Mapping no

Sub 0x01
Name STO safety application configuration signature 1
Data Type UNSIGNED16
Access rw
Defaultvalue 0xDF71
Low Limit 0
High Limit 65535
PDO Mapping no


Object: 0x6660 SBC commands
Object Code Array
Description This parameter shall provide the SBC commands, which may be received within a
controlword(s) by means of an SRDO. A value of TRUE shall deactivate the dedicated SBC
function, and a value of FALSE shall activate the dedicated SBC function. The sub-indices
shall correspond to the sub-indices of the following parameters: 6661h and 6667h.

Sub 0x00
Name SBC commands
Data Type UNSIGNED8
Access ro
Defaultvalue 3
Low Limit 1
High Limit 254
PDO Mapping no

Sub 0x01
Name SBC command 1
Data Type BOOLEAN
Access ro
Defaultvalue
Low Limit 0
High Limit 1
PDO Mapping no

Sub 0x02
Name SBC command 2
Data Type BOOLEAN
Access ro
Defaultvalue
Low Limit 0
High Limit 1
PDO Mapping no

Sub 0x03
Name SBC command 3
Data Type BOOLEAN
Access ro
Defaultvalue
Low Limit 0
High Limit 1
PDO Mapping no


Object: 0x6661 SBC brake time delay
Object Code Array
Description This parameter shall indicate the configured time to close the brake(s). For details see
/ETG6100-2/.

Sub 0x00
Name SBC brake time delay
Data Type UNSIGNED8
Access ro
Defaultvalue 3
Low Limit 1
High Limit 254
PDO Mapping no

Sub 0x01
Name SBC brake time delay 1
Data Type UNSIGNED16
Access ro
Defaultvalue 0
Low Limit 0
High Limit 65535
PDO Mapping no

Sub 0x02
Name SBC brake time delay 2
Data Type UNSIGNED16
Access ro
Defaultvalue 0
Low Limit 0
High Limit 65535
PDO Mapping no

Sub 0x03
Name SBC brake time delay 3
Data Type UNSIGNED16
Access ro
Defaultvalue 0
Low Limit 0
High Limit 65535
PDO Mapping no


Object: 0x6662 SBC safety application configuration signature
Object Code Array
Description This object shall provide the configuration checksum for SBC safety application parameters.
The sub-indices 01h to 254h relate to the corresponding instances and are calculated in the
same manner. The CRC value calculation is given in the safety configuration signature object
(see /EN50325-5/). The CRC generator polynomial is a CRC-16-CCITT polynomial and is
illustrated in formula

Sub 0x00
Name SBC safety application configuration signature
Data Type UNSIGNED8
Access ro
Defaultvalue 3
Low Limit 1
High Limit 254
PDO Mapping no

Sub 0x01
Name SBC safety application configuration signature 1
Data Type UNSIGNED16
Access rw
Low Limit 0
High Limit 65535
PDO Mapping no

Sub 0x02
Name SBC safety application configuration signature 2
Data Type UNSIGNED16
Access rw
Low Limit 0
High Limit 65535
PDO Mapping no

Sub 0x03
Name SBC safety application configuration signature 3
Data Type UNSIGNED16
Access rw
Low Limit 0
High Limit 65535
PDO Mapping no


Object: 0x6667 SBC statuses
Object Code Array
Description This parameter shall provide the current SBC statuses, which may be mapped into a
statusword(s) provided via SRDO. A value of TRUE shall indicate that the dedicated SBC
function is active, and a value of FALSE shall indicate that the dedicated SBC function is not
active. The sub-indices shall correspond to the sub-indices of the following parameters: 6660h
and 6661h.

Sub 0x00
Name SBC statuses
Data Type UNSIGNED8
Access ro
Defaultvalue 3
Low Limit 1
High Limit 254
PDO Mapping no

Sub 0x01
Name SBC status 1
Data Type BOOLEAN
Access ro
Defaultvalue
Low Limit 0
High Limit 1
PDO Mapping no

Sub 0x02
Name SBC status 2
Data Type BOOLEAN
Access ro
Defaultvalue
Low Limit 0
High Limit 1
PDO Mapping no

Sub 0x03
Name SBC status 3
Data Type BOOLEAN
Access ro
Defaultvalue
Low Limit 0
High Limit 1
PDO Mapping no


Object: 0x6690 SLS commands
Object Code Array
Description This parameter shall provide the SLS commands, which may be received within a
controlword(s) by means of an SRDO. A value of TRUE shall deactivate the dedicated SLS
function, and a value of FALSE shall activate the dedicated SLS function. The sub-indices
shall correspond to the sub-indices of the following parameters: 6691h, 6692h, 6693h, 6694h,
6695h, 6696h, 6697h, and 669Fh.

Sub 0x00
Name SLS commands
Data Type UNSIGNED8
Access ro
Defaultvalue 8
Low Limit 1
High Limit 254
PDO Mapping no

Sub 0x01
Name SLS command 1
Data Type BOOLEAN
Access ro
Defaultvalue
Low Limit 0
High Limit 1
PDO Mapping no

Sub 0x02
Name SLS command 2
Data Type BOOLEAN
Access ro
Defaultvalue
Low Limit 0
High Limit 1
PDO Mapping no

Sub 0x03
Name SLS command 3
Data Type BOOLEAN
Access ro
Defaultvalue
Low Limit 0
High Limit 1
PDO Mapping no

Sub 0x04
Name SLS command 4
Data Type BOOLEAN
Access ro
Defaultvalue
Low Limit 0
High Limit 1
PDO Mapping no

Sub 0x05
Name SLS command 5
Data Type BOOLEAN
Access ro
Defaultvalue
Low Limit 0
High Limit 1
PDO Mapping no

Sub 0x06
Name SLS command 6
Data Type BOOLEAN
Access ro
Defaultvalue
Low Limit 0
High Limit 1
PDO Mapping no

Sub 0x07
Name SLS command 7
Data Type BOOLEAN
Access ro
Defaultvalue
Low Limit 0
High Limit 1
PDO Mapping no

Sub 0x08
Name SLS command 8
Data Type BOOLEAN
Access ro
Defaultvalue
Low Limit 0
High Limit 1
PDO Mapping no


Object: 0x6691 SLS time to velocity monitoring
Object Code Array
Description This parameter shall indicate the configured delay of activating the SLS function. For details
see /ETG6100-2/.

Sub 0x00
Name SLS time to velocity monitoring
Data Type UNSIGNED8
Access ro
Defaultvalue 8
Low Limit 1
High Limit 254
PDO Mapping no

Sub 0x01
Name SLS time to velocity monitoring 1
Data Type UNSIGNED16
Access rw
Defaultvalue 0
Low Limit 0
High Limit 65535
PDO Mapping no

Sub 0x02
Name SLS time to velocity monitoring 2
Data Type UNSIGNED16
Access rw
Defaultvalue 0
Low Limit 0
High Limit 65535
PDO Mapping no

Sub 0x03
Name SLS time to velocity monitoring 3
Data Type UNSIGNED16
Access rw
Defaultvalue 0
Low Limit 0
High Limit 65535
PDO Mapping no

Sub 0x04
Name SLS time to velocity monitoring 4
Data Type UNSIGNED16
Access rw
Defaultvalue 0
Low Limit 0
High Limit 65535
PDO Mapping no

Sub 0x05
Name SLS time to velocity monitoring 5
Data Type UNSIGNED16
Access rw
Defaultvalue 0
Low Limit 0
High Limit 65535
PDO Mapping no

Sub 0x06
Name SLS time to velocity monitoring 6
Data Type UNSIGNED16
Access rw
Defaultvalue 0
Low Limit 0
High Limit 65535
PDO Mapping no

Sub 0x07
Name SLS time to velocity monitoring 7
Data Type UNSIGNED16
Access rw
Defaultvalue 0
Low Limit 0
High Limit 65535
PDO Mapping no

Sub 0x08
Name SLS time to velocity monitoring 8
Data Type UNSIGNED16
Access rw
Defaultvalue 0
Low Limit 0
High Limit 65535
PDO Mapping no


Object: 0x6693 SLS velocity limit u32
Object Code Array
Description This parameter shall indicate the configured speed limit. For details see /ETG6100-2/.

Sub 0x00
Name SLS velocity limit u32
Data Type UNSIGNED8
Access ro
Defaultvalue 8
Low Limit 1
High Limit 254
PDO Mapping no

Sub 0x01
Name SLS velocity limit u32 1
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x02
Name SLS velocity limit u32 2
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x03
Name SLS velocity limit u32 3
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x04
Name SLS velocity limit u32 4
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x05
Name SLS velocity limit u32 5
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x06
Name SLS velocity limit u32 6
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x07
Name SLS velocity limit u32 7
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x08
Name SLS velocity limit u32 8
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no


Object: 0x6694 SLS time for velocity in limits
Object Code Array
Description This parameter shall indicate the configured time for the velocity within the configured limits.
For details see /ETG6100-2/.

Sub 0x00
Name SLS time for velocity in limits
Data Type UNSIGNED8
Access ro
Defaultvalue 8
Low Limit 1
High Limit 254
PDO Mapping no

Sub 0x01
Name SLS time for velocity in limits 1
Data Type UNSIGNED16
Access rw
Defaultvalue 0
Low Limit 0
High Limit 65535
PDO Mapping no

Sub 0x02
Name SLS time for velocity in limits 2
Data Type UNSIGNED16
Access rw
Defaultvalue 0
Low Limit 0
High Limit 65535
PDO Mapping no

Sub 0x03
Name SLS time for velocity in limits 3
Data Type UNSIGNED16
Access rw
Defaultvalue 0
Low Limit 0
High Limit 65535
PDO Mapping no

Sub 0x04
Name SLS time for velocity in limits 4
Data Type UNSIGNED16
Access rw
Defaultvalue 0
Low Limit 0
High Limit 65535
PDO Mapping no

Sub 0x05
Name SLS time for velocity in limits 5
Data Type UNSIGNED16
Access rw
Defaultvalue 0
Low Limit 0
High Limit 65535
PDO Mapping no

Sub 0x06
Name SLS time for velocity in limits 6
Data Type UNSIGNED16
Access rw
Defaultvalue 0
Low Limit 0
High Limit 65535
PDO Mapping no

Sub 0x07
Name SLS time for velocity in limits 7
Data Type UNSIGNED16
Access rw
Defaultvalue 0
Low Limit 0
High Limit 65535
PDO Mapping no

Sub 0x08
Name SLS time for velocity in limits 8
Data Type UNSIGNED16
Access rw
Defaultvalue 0
Low Limit 0
High Limit 65535
PDO Mapping no


Object: 0x6698 SLS error reactions
Object Code Array
Description This parameter shall indicate the configured SLS error reactions, when the configured velocity
or deceleration limits are exceeded. The value shall indicate, which command shall be
preformed locally by means of a pointer (index and sub-index) to the command parameter. A
value of 0000 0000h shall indicate that no reaction is required. Figure 5 specifies the
parameter structure.

Sub 0x00
Name SLS error reactions
Data Type UNSIGNED8
Access ro
Defaultvalue 8
Low Limit 1
High Limit 254
PDO Mapping no

Sub 0x01
Name SLS error reaction 1
Data Type UNSIGNED32
Access rw
Defaultvalue 0x66400000
Low Limit 0
High Limit 1715470336
PDO Mapping no

Sub 0x02
Name SLS error reaction 2
Data Type UNSIGNED32
Access rw
Defaultvalue 0x66400000
Low Limit 0
High Limit 1715470336
PDO Mapping no

Sub 0x03
Name SLS error reaction 3
Data Type UNSIGNED32
Access rw
Defaultvalue 0x66400000
Low Limit 0
High Limit 1715470336
PDO Mapping no

Sub 0x04
Name SLS error reaction 4
Data Type UNSIGNED32
Access rw
Defaultvalue 0x66400000
Low Limit 0
High Limit 1715470336
PDO Mapping no

Sub 0x05
Name SLS error reaction 5
Data Type UNSIGNED32
Access rw
Defaultvalue 0x66400000
Low Limit 0
High Limit 1715470336
PDO Mapping no

Sub 0x06
Name SLS error reaction 6
Data Type UNSIGNED32
Access rw
Defaultvalue 0x66400000
Low Limit 0
High Limit 1715470336
PDO Mapping no

Sub 0x07
Name SLS error reaction 7
Data Type UNSIGNED32
Access rw
Defaultvalue 0x66400000
Low Limit 0
High Limit 1715470336
PDO Mapping no

Sub 0x08
Name SLS error reaction 8
Data Type UNSIGNED32
Access rw
Defaultvalue 0x66400000
Low Limit 0
High Limit 1715470336
PDO Mapping no


Object: 0x6699 SLS safety application configuration signature
Object Code Array
Description This object shall provide the configuration checksum for SLS safety application parameters.
The sub-indices 01h to 254h relate to the corresponding instances and are calculated in the
same manner. The CRC value calculation is given in the safety configuration signature object
(see /EN50325-5/).

Sub 0x00
Name SLS safety application configuration signature
Data Type UNSIGNED8
Access ro
Defaultvalue 8
Low Limit 1
High Limit 254
PDO Mapping no

Sub 0x01
Name SLS safety application configuration signature 1
Data Type UNSIGNED16
Access rw
Defaultvalue 0xAD9A
Low Limit 0
High Limit 65535
PDO Mapping no

Sub 0x02
Name SLS safety application configuration signature 2
Data Type UNSIGNED16
Access rw
Defaultvalue 0xAD9A
Low Limit 0
High Limit 65535
PDO Mapping no

Sub 0x03
Name SLS safety application configuration signature 3
Data Type UNSIGNED16
Access rw
Defaultvalue 0xAD9A
Low Limit 0
High Limit 65535
PDO Mapping no

Sub 0x04
Name SLS safety application configuration signature 4
Data Type UNSIGNED16
Access rw
Defaultvalue 0xAD9A
Low Limit 0
High Limit 65535
PDO Mapping no

Sub 0x05
Name SLS safety application configuration signature 5
Data Type UNSIGNED16
Access rw
Defaultvalue 0xAD9A
Low Limit 0
High Limit 65535
PDO Mapping no

Sub 0x06
Name SLS safety application configuration signature 6
Data Type UNSIGNED16
Access rw
Defaultvalue 0xAD9A
Low Limit 0
High Limit 65535
PDO Mapping no

Sub 0x07
Name SLS safety application configuration signature 7
Data Type UNSIGNED16
Access rw
Defaultvalue 0xAD9A
Low Limit 0
High Limit 65535
PDO Mapping no

Sub 0x08
Name SLS safety application configuration signature 8
Data Type UNSIGNED16
Access rw
Defaultvalue 0xAD9A
Low Limit 0
High Limit 65535
PDO Mapping no


Object: 0x669f SLS statuses
Object Code Array
Description This parameter shall provide the current SLS statuses, which may be mapped into a
statusword(s) provided via SRDO. A value of TRUE shall indicate that the dedicated SLS
function is active, and a value of FALSE shall indicate that the dedicated SLS function is not
active. The sub-indices shall correspond to the sub-indices of the following parameters:
6690h, 6691h, 6692h, 6693h, 6694h, 6695h, 6696h, 6697h, and 6698h.

Sub 0x00
Name SLS statuses
Data Type UNSIGNED8
Access ro
Defaultvalue 8
Low Limit 1
High Limit 254
PDO Mapping no

Sub 0x01
Name SLS status 1
Data Type BOOLEAN
Access ro
Defaultvalue
Low Limit 0
High Limit 1
PDO Mapping no

Sub 0x02
Name SLS status 2
Data Type BOOLEAN
Access ro
Defaultvalue
Low Limit 0
High Limit 1
PDO Mapping no

Sub 0x03
Name SLS status 3
Data Type BOOLEAN
Access ro
Defaultvalue
Low Limit 0
High Limit 1
PDO Mapping no

Sub 0x04
Name SLS status 4
Data Type BOOLEAN
Access ro
Defaultvalue
Low Limit 0
High Limit 1
PDO Mapping no

Sub 0x05
Name SLS status 5
Data Type BOOLEAN
Access ro
Defaultvalue
Low Limit 0
High Limit 1
PDO Mapping no

Sub 0x06
Name SLS status 6
Data Type BOOLEAN
Access ro
Defaultvalue
Low Limit 0
High Limit 1
PDO Mapping no

Sub 0x07
Name SLS status 7
Data Type BOOLEAN
Access ro
Defaultvalue
Low Limit 0
High Limit 1
PDO Mapping no

Sub 0x08
Name SLS status 8
Data Type BOOLEAN
Access ro
Defaultvalue
Low Limit 0
High Limit 1
PDO Mapping no


Object: 0x66a8 SMS statuses
Object Code Array
Description This parameter shall provide the current SMS statuses. A value of TRUE shall indicate that
the dedicated SMS function is active, and a value of FALSE shall indicate that the dedicated
SMS function is not active. The sub-indices shall correspond to the sub-indices of the
following parameters: 66A9 h , 66AA h , 66AB h , 66AC h , and 66AD h.

Sub 0x00
Name SMS statuses
Data Type UNSIGNED8
Access ro
Defaultvalue 1
Low Limit 1
High Limit 254
PDO Mapping no

Sub 0x01
Name SMS status 1
Data Type BOOLEAN
Access ro
Defaultvalue
Low Limit 0
High Limit 1
PDO Mapping no


Object: 0x66aa SMS velocity maximum positive u32
Object Code Array
Description This parameter shall indicate the configured maximum velocity in positive direction. For
details see /ETG6100-2/.

Sub 0x00
Name SMS velocity maximum positive u32
Data Type UNSIGNED8
Access ro
Defaultvalue 1
Low Limit 1
High Limit 254
PDO Mapping no

Sub 0x01
Name SMS velocity maximum positive u32 1
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no


Object: 0x66ac SMS velocity maximum negative u32
Object Code Array
Description This parameter shall indicate the configured maximum velocity in negative direction. For
details see /ETG6100-2/.

Sub 0x00
Name SMS velocity maximum negative u32
Data Type UNSIGNED8
Access ro
Defaultvalue 1
Low Limit 1
High Limit 254
PDO Mapping no

Sub 0x01
Name SMS velocity maximum negative u32 1
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no


Object: 0x66ad SMS error reactions
Object Code Array
Description This parameter shall indicate the configured SMS error reactions, when the configured
velocity limits are exceeded. The value shall indicate, which command shall be performed
locally by means of a pointer (index and sub-index) to the command parameter. A value of
0000 0000 h shall indicate that no reaction is required.

Sub 0x00
Name SMS error reactions
Data Type UNSIGNED8
Access ro
Defaultvalue 1
Low Limit 1
High Limit 254
PDO Mapping no

Sub 0x01
Name SMS error reaction 1
Data Type UNSIGNED32
Access rw
Defaultvalue 0x66400000
Low Limit 0
High Limit 1715470336
PDO Mapping no


Object: 0x66ae SMS safety application configuration signature
Object Code Array
Description This object shall provide the configuration checksum for SMS safety application parameters.
The sub-indices 01 h to 254 h relate to the corresponding instances and are calculated in the
same manner. The CRC value calculation is given in the safety configuration signature object
(see /EN50325-5/).

Sub 0x00
Name SMS safety application configuration signature
Data Type UNSIGNED8
Access ro
Defaultvalue 1
Low Limit 1
High Limit 254
PDO Mapping no

Sub 0x01
Name SMS safety application configuration signature 1
Data Type UNSIGNED16
Access rw
Defaultvalue 0x7830
Low Limit 0
High Limit 65535
PDO Mapping no


Object: 0x66d0 SDIp commands
Object Code Array
Description This parameter shall provide the SDIp commands, which may be received within a
controlword(s) by means of an SRDO. For definition of SDIp see /ETG6100-2/. A value of
TRUE shall deactivate the dedicated SDIp function, and a value of FALSE shall activate the
dedicated SDIp function. The sub-indices shall correspond to the sub-indices of the following
parameters: 66D2h, 66D3h, 66D4h, 66D5h, and 66DEh.

Sub 0x00
Name SDIp commands
Data Type UNSIGNED8
Access ro
Defaultvalue 2
Low Limit 1
High Limit 254
PDO Mapping no

Sub 0x01
Name SDIp command 1
Data Type BOOLEAN
Access ro
Defaultvalue
Low Limit 0
High Limit 1
PDO Mapping no

Sub 0x02
Name SDIp command 2
Data Type BOOLEAN
Access ro
Defaultvalue
Low Limit 0
High Limit 1
PDO Mapping no


Object: 0x66d1 SDIn commands
Object Code Array
Description This parameter shall provide the SDIn commands, which may be received within a
controlword(s) by means of an SRDO. For definition of SDIn see /ETG6100-2/. A value of
TRUE shall deactivate the dedicated SDIn function, and a value of FALSE shall activate the
dedicated SDIn function. The sub-indices shall correspond to the sub-indices of the following
parameters: 66D2h, 66D3h, 66D4h, 66D5h, and 66DFh.

Sub 0x00
Name SDIn commands
Data Type UNSIGNED8
Access ro
Defaultvalue 2
Low Limit 1
High Limit 254
PDO Mapping no

Sub 0x01
Name SDIn command 1
Data Type BOOLEAN
Access ro
Defaultvalue
Low Limit 0
High Limit 1
PDO Mapping no

Sub 0x02
Name SDIn command 2
Data Type BOOLEAN
Access ro
Defaultvalue
Low Limit 0
High Limit 1
PDO Mapping no


Object: 0x66d3 SDI position zero window u32
Object Code Array
Description This parameter shall indicate the configured position window for the stop position. For details
see /ETG6100-2/.

Sub 0x00
Name SDI position zero window u32
Data Type UNSIGNED8
Access ro
Defaultvalue 2
Low Limit 1
High Limit 254
PDO Mapping no

Sub 0x01
Name SDI position zero window u32 1
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x02
Name SDI position zero window u32 2
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no


Object: 0x66d5 SDI velocity zero window u32
Object Code Array
Description This parameter shall indicate the configured velocity within the zero-window. For details see
/ETG6100-2/.

Sub 0x00
Name SDI velocity zero window u32
Data Type UNSIGNED8
Access ro
Defaultvalue 2
Low Limit 1
High Limit 254
PDO Mapping no

Sub 0x01
Name SDI velocity zero window u32 1
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x02
Name SDI velocity zero window u32 2
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no


Object: 0x66d6 SDI safety application configuration signature
Object Code Array
Description This object shall provide the configuration checksum for SDI safety application parameters.
The sub-indices 01h to 254h relate to the corresponding instances and are calculated in the
same manner. The CRC value calculation is given in the safety configuration signature object
(see /EN50325-5/).

Sub 0x00
Name SDI safety application configuration signature
Data Type UNSIGNED8
Access ro
Defaultvalue 2
Low Limit 1
High Limit 254
PDO Mapping no

Sub 0x01
Name SDI safety application configuration signature 1
Data Type UNSIGNED16
Access rw
Defaultvalue 0xE896
Low Limit 0
High Limit 65535
PDO Mapping no

Sub 0x02
Name SDI safety application configuration signature 2
Data Type UNSIGNED16
Access rw
Defaultvalue 0xE896
Low Limit 0
High Limit 65535
PDO Mapping no


Object: 0x66de SDIp statuses
Object Code Array
Description This parameter shall provide the current SDIp statuses, which may be mapped into a
statusword(s) provided via SRDO. A value of TRUE shall indicate that the dedicated SDIp
function is active, and a value of FALSE shall indicate that the dedicated SDIp function is not
active. The sub-indices shall correspond to the sub-indices of the following parameters:
66D0h, 66D2h, 66D3h, 66D4h, and 66D5h.

Sub 0x00
Name SDIp statuses
Data Type UNSIGNED8
Access ro
Defaultvalue 2
Low Limit 1
High Limit 254
PDO Mapping no

Sub 0x01
Name SDIp status 1
Data Type BOOLEAN
Access ro
Defaultvalue
Low Limit 0
High Limit 1
PDO Mapping no

Sub 0x02
Name SDIp status 2
Data Type BOOLEAN
Access ro
Defaultvalue
Low Limit 0
High Limit 1
PDO Mapping no


Object: 0x66df SDIn statuses
Object Code Array
Description This parameter shall provide the current SDIn statuses, which may be mapped into a
statusword(s) provided via SRDO. A value of TRUE shall indicate that the dedicated SDIn
function is active, and a value of FALSE shall indicate that the dedicated SDIn function is not
active. The sub-indices shall correspond to the sub-indices of the following parameters:
66D1h, 66D2h, 66D3h, 66D4h, and 66D5h.

Sub 0x00
Name SDIn statuses
Data Type UNSIGNED8
Access ro
Defaultvalue 2
Low Limit 1
High Limit 254
PDO Mapping no

Sub 0x01
Name SDIn status 1
Data Type BOOLEAN
Access ro
Defaultvalue
Low Limit 0
High Limit 1
PDO Mapping no

Sub 0x02
Name SDIn status 2
Data Type BOOLEAN
Access ro
Defaultvalue
Low Limit 0
High Limit 1
PDO Mapping no


Object: 0x66f0 ezw_safety_word_scw_mapping_cw1
Object Code Array
Description This parameter shall indicate the configured mapping of the fields COM1 to COM8. The subindices
shall point by means of index and sub-index to the commands to be mapped into the
controlword. A value of 0000 0000h shall indicate a reserved entry, meaning this COM field
shall be ignored.

Sub 0x00
Name ezw_safety_word_scw_mapping_cw1
Data Type UNSIGNED8
Access ro
Defaultvalue 8
Low Limit 0
High Limit 8
PDO Mapping no

Sub 0x01
Name scw_cw_can_1_bit0
Data Type UNSIGNED32
Access ro
Defaultvalue 0x66400000
Low Limit 0x66400000
High Limit 0x66400000
PDO Mapping no

Sub 0x02
Name scw_cw_can_1_bit1
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x03
Name scw_cw_can_1_bit2
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x04
Name scw_cw_can_1_bit3
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x05
Name scw_cw_can_1_bit4
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x06
Name scw_cw_can_1_bit5
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x07
Name scw_cw_can_1_bit6
Data Type UNSIGNED32
Access ro
Defaultvalue 0x66300000
Low Limit 0x66300000
High Limit 0x66300000
PDO Mapping no

Sub 0x08
Name scw_cw_can_1_bit7
Data Type UNSIGNED32
Access ro
Defaultvalue 0x66320000
Low Limit 0x66320000
High Limit 0x66320000
PDO Mapping no


Object: 0x66f1 ezw_safety_word_scw_mapping_cw2
Object Code Array
Description This parameters shall indicate the configured mapping of the fields COM1 to COM8. The subindices
shall point by means of index and sub-index to the commands to be mapped into the
controlword. A value of 0000 0000h shall indicate a reserved entry, meaning this COM field
shall be ignored.

Sub 0x00
Name ezw_safety_word_scw_mapping_cw2
Data Type UNSIGNED8
Access ro
Defaultvalue 8
Low Limit 0
High Limit 8
PDO Mapping no

Sub 0x01
Name scw_cw_can_2_bit0
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x02
Name scw_cw_can_2_bit1
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x03
Name scw_cw_can_2_bit2
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x04
Name scw_cw_can_2_bit3
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x05
Name scw_cw_can_2_bit4
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x06
Name scw_cw_can_2_bit5
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x07
Name scw_cw_can_2_bit6
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x08
Name scw_cw_can_2_bit7
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no


Object: 0x66f2 ezw_safety_word_scw_mapping_cw3
Object Code Array
Description This parameters shall indicate the configured mapping of the fields COM1 to COM8. The subindices
shall point by means of index and sub-index to the commands to be mapped into the
controlword. A value of 0000 0000h shall indicate a reserved entry, meaning this COM field
shall be ignored.

Sub 0x00
Name ezw_safety_word_scw_mapping_cw3
Data Type UNSIGNED8
Access ro
Defaultvalue 8
Low Limit 0
High Limit 8
PDO Mapping no

Sub 0x01
Name scw_cw_can_3_bit0
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x02
Name scw_cw_can_3_bit1
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x03
Name scw_cw_can_3_bit2
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x04
Name scw_cw_can_3_bit3
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x05
Name scw_cw_can_3_bit4
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x06
Name scw_cw_can_3_bit5
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x07
Name scw_cw_can_3_bit6
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x08
Name scw_cw_can_3_bit7
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no


Object: 0x66f3 ezw_safety_word_scw_mapping_cw4
Object Code Array
Description This parameters shall indicate the configured mapping of the fields COM1 to COM8. The subindices
shall point by means of index and sub-index to the commands to be mapped into the
controlword. A value of 0000 0000h shall indicate a reserved entry, meaning this COM field
shall be ignored.

Sub 0x00
Name ezw_safety_word_scw_mapping_cw4
Data Type UNSIGNED8
Access ro
Defaultvalue 8
Low Limit 0
High Limit 8
PDO Mapping no

Sub 0x01
Name scw_cw_can_4_bit0
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x02
Name scw_cw_can_4_bit1
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x03
Name scw_cw_can_4_bit2
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x04
Name scw_cw_can_4_bit3
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x05
Name scw_cw_can_4_bit4
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x06
Name scw_cw_can_4_bit5
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x07
Name scw_cw_can_4_bit6
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x08
Name scw_cw_can_4_bit7
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no


Object: 0x66f4 ezw_safety_word_scw_mapping_cw5
Object Code Array
Description This parameters shall indicate the configured mapping of the fields COM1 to COM8. The subindices
shall point by means of index and sub-index to the commands to be mapped into the
controlword. A value of 0000 0000h shall indicate a reserved entry, meaning this COM field
shall be ignored.

Sub 0x00
Name ezw_safety_word_scw_mapping_cw5
Data Type UNSIGNED8
Access ro
Defaultvalue 8
Low Limit 0
High Limit 8
PDO Mapping no

Sub 0x01
Name scw_cw_can_5_bit0
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x02
Name scw_cw_can_5_bit1
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x03
Name scw_cw_can_5_bit2
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x04
Name scw_cw_can_5_bit3
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x05
Name scw_cw_can_5_bit4
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x06
Name scw_cw_can_5_bit5
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x07
Name scw_cw_can_5_bit6
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x08
Name scw_cw_can_5_bit7
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no


Object: 0x66f5 ezw_safety_word_scw_mapping_cw6
Object Code Array
Description This parameters shall indicate the configured mapping of the fields COM1 to COM8. The subindices
shall point by means of index and sub-index to the commands to be mapped into the
controlword. A value of 0000 0000h shall indicate a reserved entry, meaning this COM field
shall be ignored.

Sub 0x00
Name ezw_safety_word_scw_mapping_cw6
Data Type UNSIGNED8
Access ro
Defaultvalue 8
Low Limit 0
High Limit 8
PDO Mapping no

Sub 0x01
Name scw_cw_can_6_bit0
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x02
Name scw_cw_can_6_bit1
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x03
Name scw_cw_can_6_bit2
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x04
Name scw_cw_can_6_bit3
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x05
Name scw_cw_can_6_bit4
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x06
Name scw_cw_can_6_bit5
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x07
Name scw_cw_can_6_bit6
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x08
Name scw_cw_can_6_bit7
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no


Object: 0x66f6 ezw_safety_word_scw_mapping_cw7
Object Code Array
Description This parameters shall indicate the configured mapping of the fields COM1 to COM8. The subindices
shall point by means of index and sub-index to the commands to be mapped into the
controlword. A value of 0000 0000h shall indicate a reserved entry, meaning this COM field
shall be ignored.

Sub 0x00
Name ezw_safety_word_scw_mapping_cw7
Data Type UNSIGNED8
Access ro
Defaultvalue 8
Low Limit 0
High Limit 8
PDO Mapping no

Sub 0x01
Name scw_cw_can_7_bit0
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x02
Name scw_cw_can_7_bit1
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x03
Name scw_cw_can_7_bit2
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x04
Name scw_cw_can_7_bit3
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x05
Name scw_cw_can_7_bit4
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x06
Name scw_cw_can_7_bit5
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x07
Name scw_cw_can_7_bit6
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x08
Name scw_cw_can_7_bit7
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no


Object: 0x66f7 ezw_safety_word_scw_mapping_cw8
Object Code Array
Description This parameters shall indicate the configured mapping of the fields COM1 to COM8. The subindices
shall point by means of index and sub-index to the commands to be mapped into the
controlword. A value of 0000 0000h shall indicate a reserved entry, meaning this COM field
shall be ignored.

Sub 0x00
Name ezw_safety_word_scw_mapping_cw8
Data Type UNSIGNED8
Access ro
Defaultvalue 8
Low Limit 0
High Limit 8
PDO Mapping no

Sub 0x01
Name scw_cw_can_8_bit0
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x02
Name scw_cw_can_8_bit1
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x03
Name scw_cw_can_8_bit2
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x04
Name scw_cw_can_8_bit3
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x05
Name scw_cw_can_8_bit4
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x06
Name scw_cw_can_8_bit5
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x07
Name scw_cw_can_8_bit6
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x08
Name scw_cw_can_8_bit7
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no


Object: 0x66f8 ezw_safety_word_ssw_mapping_sw1
Object Code Array
Description This parameter shall indicate the configured mapping of the fields STA1 to STA8. The subindices
shall point by means of index and sub-index to the safety status information to be
mapped into the statusword. A value of 0000 0000h shall indicate a reserved entry, meaning
this STA field is not used and has no meaning.

Sub 0x00
Name ezw_safety_word_ssw_mapping_sw1
Data Type UNSIGNED8
Access ro
Defaultvalue 8
Low Limit 0
High Limit 8
PDO Mapping no

Sub 0x01
Name ssw_sw_can_1_bit0
Data Type UNSIGNED32
Access ro
Defaultvalue 0x66440000
Low Limit 0x66440000
High Limit 0x66440000
PDO Mapping no

Sub 0x02
Name ssw_sw_can_1_bit1
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x03
Name ssw_sw_can_1_bit2
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x04
Name ssw_sw_can_1_bit3
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x05
Name ssw_sw_can_1_bit4
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x06
Name ssw_sw_can_1_bit5
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x07
Name ssw_sw_can_1_bit6
Data Type UNSIGNED32
Access ro
Defaultvalue 0x66310000
Low Limit 0x66310000
High Limit 0x66310000
PDO Mapping no

Sub 0x08
Name ssw_sw_can_1_bit7
Data Type UNSIGNED32
Access ro
Defaultvalue 0x66330000
Low Limit 0x66330000
High Limit 0x66330000
PDO Mapping no


Object: 0x66f9 ezw_safety_word_ssw_mapping_sw2
Object Code Array
Description This parameters shall indicate the configured mapping of the fields STA1 to STA8. The subindices
shall point by means of index and sub-index to the commands to be mapped into the
statusword. A value of 0000 0000h shall indicate a reserved entry, meaning this STA field has
no meaning. Figure 5 specifies the parameter structure.

Sub 0x00
Name ezw_safety_word_ssw_mapping_sw2
Data Type UNSIGNED8
Access ro
Defaultvalue 8
Low Limit 0
High Limit 8
PDO Mapping no

Sub 0x01
Name ssw_sw_can_2_bit0
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x02
Name ssw_sw_can_2_bit1
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x03
Name ssw_sw_can_2_bit2
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x04
Name ssw_sw_can_2_bit3
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x05
Name ssw_sw_can_2_bit4
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x06
Name ssw_sw_can_2_bit5
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x07
Name ssw_sw_can_2_bit6
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x08
Name ssw_sw_can_2_bit7
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no


Object: 0x66fa ezw_safety_word_ssw_mapping_sw3
Object Code Array
Description This parameters shall indicate the configured mapping of the fields STA1 to STA8. The subindices
shall point by means of index and sub-index to the commands to be mapped into the
statusword. A value of 0000 0000h shall indicate a reserved entry, meaning this STA field has
no meaning. Figure 5 specifies the parameter structure.

Sub 0x00
Name ezw_safety_word_ssw_mapping_sw3
Data Type UNSIGNED8
Access ro
Defaultvalue 8
Low Limit 0
High Limit 8
PDO Mapping no

Sub 0x01
Name ssw_sw_can_3_bit0
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x02
Name ssw_sw_can_3_bit1
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x03
Name ssw_sw_can_3_bit2
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x04
Name ssw_sw_can_3_bit3
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x05
Name ssw_sw_can_3_bit4
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x06
Name ssw_sw_can_3_bit5
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x07
Name ssw_sw_can_3_bit6
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x08
Name ssw_sw_can_3_bit7
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no


Object: 0x66fb ezw_safety_word_ssw_mapping_sw4
Object Code Array
Description This parameters shall indicate the configured mapping of the fields STA1 to STA8. The subindices
shall point by means of index and sub-index to the commands to be mapped into the
statusword. A value of 0000 0000h shall indicate a reserved entry, meaning this STA field has
no meaning. Figure 5 specifies the parameter structure.

Sub 0x00
Name ezw_safety_word_ssw_mapping_sw4
Data Type UNSIGNED8
Access ro
Defaultvalue 8
Low Limit 0
High Limit 8
PDO Mapping no

Sub 0x01
Name ssw_sw_can_4_bit0
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x02
Name ssw_sw_can_4_bit1
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x03
Name ssw_sw_can_4_bit2
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x04
Name ssw_sw_can_4_bit3
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x05
Name ssw_sw_can_4_bit4
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x06
Name ssw_sw_can_4_bit5
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x07
Name ssw_sw_can_4_bit6
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x08
Name ssw_sw_can_4_bit7
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no


Object: 0x66fc ezw_safety_word_ssw_mapping_sw5
Object Code Array
Description This parameters shall indicate the configured mapping of the fields STA1 to STA8. The subindices
shall point by means of index and sub-index to the commands to be mapped into the
statusword. A value of 0000 0000h shall indicate a reserved entry, meaning this STA field has
no meaning. Figure 5 specifies the parameter structure.

Sub 0x00
Name ezw_safety_word_ssw_mapping_sw5
Data Type UNSIGNED8
Access ro
Defaultvalue 8
Low Limit 0
High Limit 8
PDO Mapping no

Sub 0x01
Name ssw_sw_can_5_bit0
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x02
Name ssw_sw_can_5_bit1
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x03
Name ssw_sw_can_5_bit2
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x04
Name ssw_sw_can_5_bit3
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x05
Name ssw_sw_can_5_bit4
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x06
Name ssw_sw_can_5_bit5
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x07
Name ssw_sw_can_5_bit6
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x08
Name ssw_sw_can_5_bit7
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no


Object: 0x66fd ezw_safety_word_ssw_mapping_sw6
Object Code Array
Description This parameters shall indicate the configured mapping of the fields STA1 to STA8. The subindices
shall point by means of index and sub-index to the commands to be mapped into the
statusword. A value of 0000 0000h shall indicate a reserved entry, meaning this STA field has
no meaning. Figure 5 specifies the parameter structure.

Sub 0x00
Name ezw_safety_word_ssw_mapping_sw6
Data Type UNSIGNED8
Access ro
Defaultvalue 8
Low Limit 0
High Limit 8
PDO Mapping no

Sub 0x01
Name ssw_sw_can_6_bit0
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x02
Name ssw_sw_can_6_bit1
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x03
Name ssw_sw_can_6_bit2
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x04
Name ssw_sw_can_6_bit3
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x05
Name ssw_sw_can_6_bit4
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x06
Name ssw_sw_can_6_bit5
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x07
Name ssw_sw_can_6_bit6
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x08
Name ssw_sw_can_6_bit7
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no


Object: 0x66fe ezw_safety_word_ssw_mapping_sw7
Object Code Array
Description This parameters shall indicate the configured mapping of the fields STA1 to STA8. The subindices
shall point by means of index and sub-index to the commands to be mapped into the
statusword. A value of 0000 0000h shall indicate a reserved entry, meaning this STA field has
no meaning. Figure 5 specifies the parameter structure.

Sub 0x00
Name ezw_safety_word_ssw_mapping_sw7
Data Type UNSIGNED8
Access ro
Defaultvalue 8
Low Limit 0
High Limit 8
PDO Mapping no

Sub 0x01
Name ssw_sw_can_7_bit0
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x02
Name ssw_sw_can_7_bit1
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x03
Name ssw_sw_can_7_bit2
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x04
Name ssw_sw_can_7_bit3
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x05
Name ssw_sw_can_7_bit4
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x06
Name ssw_sw_can_7_bit5
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x07
Name ssw_sw_can_7_bit6
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x08
Name ssw_sw_can_7_bit7
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no


Object: 0x66ff ezw_safety_word_ssw_mapping_sw8
Object Code Array
Description This parameters shall indicate the configured mapping of the fields STA1 to STA8. The subindices
shall point by means of index and sub-index to the commands to be mapped into the
statusword. A value of 0000 0000h shall indicate a reserved entry, meaning this STA field has
no meaning. Figure 5 specifies the parameter structure.

Sub 0x00
Name ezw_safety_word_ssw_mapping_sw8
Data Type UNSIGNED8
Access ro
Defaultvalue 8
Low Limit 0
High Limit 8
PDO Mapping no

Sub 0x01
Name ssw_sw_can_8_bit0
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x02
Name ssw_sw_can_8_bit1
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x03
Name ssw_sw_can_8_bit2
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x04
Name ssw_sw_can_8_bit3
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x05
Name ssw_sw_can_8_bit4
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x06
Name ssw_sw_can_8_bit5
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x07
Name ssw_sw_can_8_bit6
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no

Sub 0x08
Name ssw_sw_can_8_bit7
Data Type UNSIGNED32
Access rw
Defaultvalue 0
Low Limit 0
High Limit 4294967295
PDO Mapping no


Object: 0x6800 Operating parameters
Object Code Variable
Description This object shall indicate the functions for code sequence, commissioning diagnostic control
and scaling function control.
Code sequence: The code sequence defines, whether increasing or decreasing position
values are output, in case the encoder shaft rotates clockwise or counter clockwise as seen
from the point of view of the shaft.
Commissioning diagnostic control: With the commissioning diagnostic function it is possible to
check the encoder components responsible for position detection at encoder stand still.
Commissioning bit: The commissioning bit in the operating parameter initiates the
commissioning diagnostic. If errors are detected it will be announced by the according alarm
bits.
Scaling function control: With the scaling function the encoder numerical value is converted in
software to change the physical resolution of the encoder. The measuring units per revolution
(object 6001h) and total measuring range in measuring units (object 6002h) are the scaling
parameters. The scaling function bit is set in the operating parameters. If the scaling function
bit is set to zero, the scaling function is disabled.
Measuring direction: Moving away from the electrical connection (point of view shall be the
mounting face) shall be regarded as forward direction.

Sub 0x00
Name Operating parameters
Data Type UNSIGNED16
Access rw
Defaultvalue
Low Limit 0
High Limit 65535
PDO Mapping no


Object: 0x6801 Measuring units per revolution
Object Code Variable
Description This object shall indicate the number of distinguishable steps per revolution.

Sub 0x00
Name Measuring units per revolution
Data Type UNSIGNED32
Access rw
Defaultvalue
Low Limit 0
High Limit 4294967295
PDO Mapping no


Object: 0x6802 Total measuring range in measuring units
Object Code Variable
Description This object shall indicate the number of distinguishable steps over the total measuring range.

Sub 0x00
Name Total measuring range in measuring units
Data Type UNSIGNED32
Access rw
Defaultvalue
Low Limit 0
High Limit 4294967295
PDO Mapping no


Object: 0x6803 Preset value
Object Code Variable
Description This object shall indicate the preset value for the output position value (object 6004h).
This object supports adaptation of encoders zero point to the mechanical zero point of the
system. For multi-sensor devices and linear sensors refer to object 6010h.
The output position value shall be set to the preset value and the offset from the position
value shall be calculated and stored in the encoder.

Sub 0x00
Name Preset value
Data Type UNSIGNED32
Access rw
Defaultvalue
Low Limit 0
High Limit 4294967295
PDO Mapping no


Object: 0x6810 Preset values for multi sensor devices
Object Code Array
Description This object is similar to object 6003h and shall indicate the preset values for the output
position values for multi-sensor devices (object 6020h).
In sub-index 00h the number of supported channels is defined.
The Preset function supports adaptation of the encoders zero point to the mechanical zero
point of the system.
The output position values in the sub-indices of object 6020h are set to the sub-indices of the
parameter „Preset value“ in object 6010h, accordingly. The offset from the position value shall
be calculated and stored in the encoder.
This object is only mandatory for multi-sensor encoders (object 1000h encoder type: code
10d).

Sub 0x00
Name Highest sub-index supported
Data Type UNSIGNED8
Access ro
Defaultvalue 4
Low Limit 1
High Limit 254
PDO Mapping no

Sub 0x01
Name Preset value channel 1
Data Type INTEGER32
Access rw
Defaultvalue
Low Limit -2147483648
High Limit 2147483647
PDO Mapping no

Sub 0x02
Name Preset value channel 2
Data Type INTEGER32
Access rw
Defaultvalue
Low Limit -2147483648
High Limit 2147483647
PDO Mapping no

Sub 0x03
Name Preset value channel 3
Data Type INTEGER32
Access rw
Defaultvalue
Low Limit -2147483648
High Limit 2147483647
PDO Mapping no

Sub 0x04
Name Preset value channel 4
Data Type INTEGER32
Access rw
Defaultvalue
Low Limit -2147483648
High Limit 2147483647
PDO Mapping no


Object: 0x6820 Position values for multi sensor devices
Object Code Array
Description Similar to object 6004h this object shall indicate the output position value(s) for the
communication objects 1800h (TPDO 1) and 1801h (TPDO 2). This object is only mandatory
for multi-sensor encoders (object 1000h encoder type: code 10d).

Sub 0x00
Name Highest sub-index supported
Data Type UNSIGNED8
Access ro
Defaultvalue 4
Low Limit 1
High Limit 254
PDO Mapping no

Sub 0x01
Name Position value channel 1
Data Type INTEGER32
Access rw
Defaultvalue
Low Limit -2147483648
High Limit 2147483647
PDO Mapping no

Sub 0x02
Name Position value channel 2
Data Type INTEGER32
Access rw
Defaultvalue
Low Limit -2147483648
High Limit 2147483647
PDO Mapping no

Sub 0x03
Name Position value channel 3
Data Type INTEGER32
Access rw
Defaultvalue
Low Limit -2147483648
High Limit 2147483647
PDO Mapping no

Sub 0x04
Name Position value channel 4
Data Type INTEGER32
Access rw
Defaultvalue
Low Limit -2147483648
High Limit 2147483647
PDO Mapping no


Object: 0x6830 Speed value
Object Code Array
Description This object shall provide the output speed value(s). For linear encoders the speed-measuring
step is defined in object 6005h, sub-index 02h. The speed value for rotary encoders shall be
given in multiples of measuring units per second. This object is only mandatory for multisensor
encoders (object 1000h encoder type: code 10d).

Sub 0x00
Name Highest sub index supported
Data Type UNSIGNED8
Access ro
Defaultvalue 4
Low Limit 1
High Limit 254
PDO Mapping no

Sub 0x01
Name Speed value channel 1
Data Type INTEGER16
Access ro
Defaultvalue
Low Limit -32768
High Limit 32767
PDO Mapping optional

Sub 0x02
Name Speed value channel 2
Data Type INTEGER16
Access ro
Defaultvalue
Low Limit -32768
High Limit 32767
PDO Mapping optional

Sub 0x03
Name Speed value channel 3
Data Type INTEGER16
Access ro
Defaultvalue
Low Limit -32768
High Limit 32767
PDO Mapping optional

Sub 0x04
Name Speed value channel 4
Data Type INTEGER16
Access ro
Defaultvalue
Low Limit -32768
High Limit 32767
PDO Mapping optional